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http://dx.doi.org/10.6109/jicce.2012.10.2.149

Fusion of Hierarchical Behavior-based Actions in Mobile Robot Using Fuzzy Logic  

Ye, Gan Zhen (Department of Ubiquitous IT, Dongseo University)
Kang, Dae-Ki (Department of Ubiquitous IT, Dongseo University)
Publication Information
Journal of information and communication convergence engineering / v.10, no.2, 2012 , pp. 149-155 More about this Journal
Abstract
This paper presents mobile robot control architecture of hierarchical behaviors, inspired by biological life. The system is reactive, highly parallel, and does not rely on representation of the environment. The behaviors of the system are designed hierarchically from the bottom-up with priority given to primitive behaviors to ensure the survivability of the robot and provide robustness to failures in higher-level behaviors. Fuzzy logic is used to perform command fusion on each behavior's output. Simulations of the proposed methodology are shown and discussed. The simulation results indicate that complex tasks can be performed by a combination of a few simple behaviors and a set of fuzzy inference rules.
Keywords
Behavior-based system; Command fusion; Fuzzy logic; Mobile robot control architecture;
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