An Approach in Designing Hierarchy of Fuzzy Behaviors for Mobile Robot Navigation

Long Thanh Ngo; Long The Pham; Phuong Hoang Nguyen; Kaoru Hirota

doi:10.20965/jaciii.2007.p0268

An Approach in Designing Hierarchy of Fuzzy Behaviors for Mobile Robot Navigation

Long Thanh Ngo^*
, Long The Pham^*
, Phuong Hoang Nguyen
, Kaoru Hirota

^*Corresponding author for this work

Le Quy Don Technical University
Ministry of Health Vitenam
Tokyo Institute of Technology

Research output: Contribution to journal › Article › peer-review

Abstract

We propose an approach to the design hierarchical behaviors for mobile robot navigation in which robot perceives information about the environment from sensor then computes fuzzy output for individual behavior. Each behavior involves a fuzzy controller with the same output. The behavior hierarchy combines commands from fuzzy behavior output and defuzzifies it to archive crisp values for controlling the direction in which robot moves. Simulation results and statistics demonstrate the feasibility of our proposal.

Original language	English
Pages (from-to)	268-275
Number of pages	8
Journal	Journal of Advanced Computational Intelligence and Intelligent Informatics
Volume	11
Issue number	3
DOIs	https://doi.org/10.20965/jaciii.2007.p0268
Publication status	Published - Mar 2007
Externally published	Yes

Keywords

behavior hierarchy
fuzzy controller
fuzzy directional relation
mobile robot
robot navigation

Access to Document

10.20965/jaciii.2007.p0268

Cite this

@article{06b83861b2f14351af63ae706f18867e,

title = "An Approach in Designing Hierarchy of Fuzzy Behaviors for Mobile Robot Navigation",

abstract = "We propose an approach to the design hierarchical behaviors for mobile robot navigation in which robot perceives information about the environment from sensor then computes fuzzy output for individual behavior. Each behavior involves a fuzzy controller with the same output. The behavior hierarchy combines commands from fuzzy behavior output and defuzzifies it to archive crisp values for controlling the direction in which robot moves. Simulation results and statistics demonstrate the feasibility of our proposal.",

keywords = "behavior hierarchy, fuzzy controller, fuzzy directional relation, mobile robot, robot navigation",

author = "Ngo, \{Long Thanh\} and Pham, \{Long The\} and Nguyen, \{Phuong Hoang\} and Kaoru Hirota",

year = "2007",

month = mar,

doi = "10.20965/jaciii.2007.p0268",

language = "English",

volume = "11",

pages = "268--275",

journal = "Journal of Advanced Computational Intelligence and Intelligent Informatics",

issn = "1343-0130",

publisher = "Fuji Technology Press",

number = "3",

}

TY - JOUR

T1 - An Approach in Designing Hierarchy of Fuzzy Behaviors for Mobile Robot Navigation

AU - Ngo, Long Thanh

AU - Pham, Long The

AU - Nguyen, Phuong Hoang

AU - Hirota, Kaoru

PY - 2007/3

Y1 - 2007/3

N2 - We propose an approach to the design hierarchical behaviors for mobile robot navigation in which robot perceives information about the environment from sensor then computes fuzzy output for individual behavior. Each behavior involves a fuzzy controller with the same output. The behavior hierarchy combines commands from fuzzy behavior output and defuzzifies it to archive crisp values for controlling the direction in which robot moves. Simulation results and statistics demonstrate the feasibility of our proposal.

AB - We propose an approach to the design hierarchical behaviors for mobile robot navigation in which robot perceives information about the environment from sensor then computes fuzzy output for individual behavior. Each behavior involves a fuzzy controller with the same output. The behavior hierarchy combines commands from fuzzy behavior output and defuzzifies it to archive crisp values for controlling the direction in which robot moves. Simulation results and statistics demonstrate the feasibility of our proposal.

KW - behavior hierarchy

KW - fuzzy controller

KW - fuzzy directional relation

KW - mobile robot

KW - robot navigation

UR - https://www.scopus.com/pages/publications/85166977384

U2 - 10.20965/jaciii.2007.p0268

DO - 10.20965/jaciii.2007.p0268

M3 - Article

AN - SCOPUS:85166977384

SN - 1343-0130

VL - 11

SP - 268

EP - 275

JO - Journal of Advanced Computational Intelligence and Intelligent Informatics

JF - Journal of Advanced Computational Intelligence and Intelligent Informatics

IS - 3

ER -

An Approach in Designing Hierarchy of Fuzzy Behaviors for Mobile Robot Navigation

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this