Resolving Conflicts Between Behaviors Using Suppression and Inhibition

  • François G. Pin
  • Yutaka Watanabe
Part of the Studies in Fuzziness and Soft Computing book series (STUDFUZZ, volume 61)


Navigation of autonomous mobile robots in unknown and unpredictable environments is a challenging domain to test and/or demonstrate knowledge representation and reasoning techniques because it involves a number of unique characteristics:
  • The input to the control system, particularly when provided by sonar range finders and odometric wheel encoders, is inaccurate, sparse, uncertain, and/or unreliable.

  • No complete mathematical representation exists of the process termed “navigation,” although, as demonstrated by humans, a set of skills for accomplishing this process exists that can typically be represented in a linguistic manner as IF-THEN rules (e.g., if the goal is to the left, then turn left; if an obstacle is detected to the right, then bear left).

  • The approximations involved in the numerical representation of the system and its environment (e.g., geometric representations, map discretization in grid) are significant.

  • A navigation environment is in general dynamic and unpredictable, typically leading to large uncertainties in its representation.


Membership Function Mobile Robot Fuzzy Rule Goal Orientation Obstacle Avoidance 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • François G. Pin
  • Yutaka Watanabe

There are no affiliations available

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