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 


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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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