Blending Reactivity and Goal-directedness in a Fuzzy Controller

نویسنده

  • Enrique H. Ruspini
چکیده

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

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Blending Reactivity and Goal-Directedness in a Fuzzy Controller IEEE Neural Nets and Fuzzy Control, San Francisco, 1993 Alessandro Sa otti

| Controlling the movement of an autonomous mobile robot requires the ability to pursue strategic goals in a highly reactive way. We describe a fuzzy controller for such a mobile robot that can take abstract goals into consideration. Through the use of fuzzy logic, reactive behavior (e.g., avoiding obstacles on the way) and goaloriented behavior (e.g., trying to reach a given location) are smoo...

متن کامل

Design On-Line Tunable Gain Artificial Nonlinear Controller

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...

متن کامل

Design On-Line Tunable Gain Artificial Nonlinear Controller

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...

متن کامل

Speed Control of Permanent Magnet Synchronous Motor by Antiwindup PI Controller and Comparison with Fuzzy Controller

In this paper, the driver with antiwindup and fuzzy high-performance and robust PI controller has been suggested for Permanent Magnet Synchronous Motor (PMSM). This controller is suggested for the design of the robust driver for three phase PMSM and the cost reduction of its control system. It’s useful for the industrial application and automation and ultimately speed control and the improvemen...

متن کامل

A critical review of nonlinear fuzzy multiple time-delay interconnected systems using the Lyapunov criterion

This paper reviews the development of fuzzy systems and the problem of time delay control in nonlinear systems. Based on this review, a fuzzy Lyapunov method defined in fuzzy blending quadratic Lyapunov functions is proposed from which to derive stability conditions. In the controller procedure, a parallel distributed compensation (PDC) scheme is utilized to construct a global fuzzy logic contr...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 1993