한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)
- 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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- Pages.504-510
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- 1998
클러스터링에 의한 자율 이동 로봇의 장애물 회피 알고리즘
Implementation of the Obstacle Avoidance Algorithm of Autonomous Mobile Robots by Clustering
초록
In this paper, Fundamental rules governing group intelligence "obstacle avoidance" behavior of multiple autonomous mobile robots are represented by a small number of fuzzy rules. Complex lifelike behavior is considered as local interactions between simple individuals under small number of fundamental rules. The fuzzy rules for obstacle avoidance are generated from clustering the input-output data obtained from the obstacle avoidance algorithm. Simulation shows the fuzzy rules successfully realizes fundamental rules of the obstacle avoidance behavior.
키워드