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A Fuzzy-Neural Realization of Behavior-Based Control Systems for a Mobile Robot

  • Keigo Watanabe
  • Kiyotaka Izumi
Part of the Studies in Fuzziness and Soft Computing book series (STUDFUZZ, volume 21)

Abstract

A fuzzy-neural realization of a behavior-based control system is described for a mobile robot by applying the soft-computing techniques, in which a simple fuzzy reasoning is assigned to one elemental behavior consisting of a single input-output relation, and then two consequent results from two behavioral groups are competed or cooperated. For the competition or cooperation between behavioral groups or elemental behaviors, a suppression unit is constructed as a neural network by using a sign function or saturation function. A Jacobian net is introduced to transform the results obtained from the competition or cooperation to those in the joint coordinate systems. Furthermore, we explain how to learn the present behavior-based control system by using a genetic algorithm. Finally, a simple terminal control problem is illustrated for a mobile robot with two independent driving wheels.

Keywords

Mobile Robot Fuzzy Rule Soft Computing Behavior Group Fuzzy Reasoning 
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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Copyright information

© Springer-Verlag Berlin Heidelberg 1998

Authors and Affiliations

  • Keigo Watanabe
    • 1
  • Kiyotaka Izumi
    • 1
  1. 1.Department of Mechanical Engineering Faculty of Science and EngineeringSaga UniversitySaga 840Japan

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