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A Fuzzy Controller for Flakey, An Autonomous Mobile Robot

  • Conference paper
Fuzzy Logic

Part of the book series: Informatik aktuell ((INFORMAT))

Abstract

Controlling the movement of an autonomous mobile robot in real-world unstructured environments requires the ability to pursue strategic goals under conditions of uncertainty, incompleteness, and imprecision. We describe a fuzzy controller for a mobile robot that can take multiple goals into consideration. Through the use of fuzzy logic, goal-oriented behavior (e.g., trying to reach a given location) and reactive behavior (e.g., avoiding obstacles on the way) are smoothly blended into one sequence of control actions. The fuzzy controller has been implemented in the SRI robot Flakey.

Reprinted with permission from: Proceedings of the Fuzzy Logic 93 Conference, Penn Well, 1993.

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Author information

Author notes

  1. Alessandro Saffiotti

    Present address: lridia, Université Libre de Bruxelles, Brussels, Belgium

Authors and Affiliations

  1. Artificial Intelligence Center, SRI International, Menlo Park, CA, 94025, USA

    Alessandro Saffiotti, Enrique H. Ruspini & Kurt Konolige

Authors
  1. Alessandro Saffiotti
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  2. Enrique H. Ruspini
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  3. Kurt Konolige
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Editor information

Editors and Affiliations

  1. Lehrstuhl Informatik I, Universität Dortmund, Otto-Hahn-Straße 16, D-44227, Dortmund, Deutschland

    Bernd Reusch

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© 1993 Springer-Verlag Berlin Heidelberg

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Saffiotti, A., Ruspini, E.H., Konolige, K. (1993). A Fuzzy Controller for Flakey, An Autonomous Mobile Robot. In: Reusch, B. (eds) Fuzzy Logic. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-78694-5_1

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  • DOI: https://doi.org/10.1007/978-3-642-78694-5_1

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-57524-5

  • Online ISBN: 978-3-642-78694-5

  • eBook Packages: Springer Book Archive

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