[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.5391/IJFIS.2006.6.4.293

Fuzzy Neural Network Based Sensor Fusion and It's Application to Mobile Robot in Intelligent Robotic Space

Jin, Tae-Seok (Dept. of Mechatronics Eng., DongSeo University)
Lee, Min-Jung (RIC for Ubiquitous Appliance, DongSeo University)
Hashimoto, Hideki (HS, University of Tokyo)

Publication Information

International Journal of Fuzzy Logic and Intelligent Systems / v.6, no.4, 2006 , pp. 293-298 More about this Journal

Abstract

In this paper, a sensor fusion based robot navigation method for the autonomous control of a miniature human interaction robot is presented. The method of navigation blends the optimality of the Fuzzy Neural Network(FNN) based control algorithm with the capabilities in expressing knowledge and learning of the networked Intelligent Robotic Space(IRS). States of robot and IR space, for examples, the distance between the mobile robot and obstacles and the velocity of mobile robot, are used as the inputs of fuzzy logic controller. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a sensor fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process. Preliminary experiment and results are shown to demonstrate the merit of the introduced navigation control algorithm.

Keywords

Fuzzy Neural Network; CCD cameras; Mobile robot; Recognition; Obstacle avoidance;

Citations & Related Records

Reference

1	Kanayama, Y.: Two Dimensional Wheeled Vehicle Kinematics. Proc. of IEEE Conf. on Robotics and Automation, San-Diego, California, 1994, pp. 3079-3084
2	McFarland, D.: What it means for a robot behavior to be adaptive. In. J.-A. Meyer and S.W. Wilson (Eds.), From animals to animates: Proc. of the First Int. Conf. on Simulation of Adaptive Behavior, Cambridge, MA, MIT Press, 1990, pp. 22-28
3	Jang, J.-S. R.: ANFIS: Adaptive-Network-based Fuzzy Interference Systems. IEEE Trans. on Systems, Man, and Cybernetics, 23(03): 1993, pp. 665-685 DOI ScienceOn
4	Home Page of Inter Process Communication Package at: http://www.ri.cmu.edu/projects/project_394.html
5	Appenzeller, G., Lee, J.H., Hashimoto, H.: Building Topological Maps by Looking at People: An Example of Cooperation between Intelligent Spaces and Robots. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1997, pp. 1326-1333
6	Home Page of Player/Stage Project at: http://playerstage.sourceforge.net/
7	Morioka, K., Lee, J.H., Hashimoto, H.: Human-Following Mobile Robot in a Distributed Intelligent Sensor Network. IEEE Trans. on Industrial Electronics, Vol.51, No.1, 2004, pp.229-237 DOI ScienceOn
8	Takagi, T., Sugeno, M.: Fuzzy Identification System and its Application to Modeling and Control. IEEE Trans. on Systems, Man and Cybernetics, 15, 1985, pp. 116-132