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http://dx.doi.org/10.5391/JKIIS.2003.13.3.287

2-Layer Fuzzy Controller for Behavior Control of Mobile Robot  

Sim, Kwee-Bo (중앙대학교 전자전기공학부)
Byun, Kwang-Sub (중앙대학교 전자전기공학부)
Park, Chang-Hyun (중앙대학교 전자전기공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.13, no.3, 2003 , pp. 287-292 More about this Journal
Abstract
The ability of robot is being various and complex. The robot is utilizing distance, image data and voice data for sensing its circumstance. This paper suggests the 2-layer fuzzy control as the algorithm that control robot with various sensor information. In a obstacle avoidance, it utilizes many range finders and classifies them into 3parts(front, left, right). In 3 sub-controllers, the controller executes fuzzy conference. And then it executes combined control with a combination of outputs of 3 sub-controllers in the second step. The text compares the 2-layer fuzzy controller with the hierarchical fuzzy controller that has analogous structure. And the performance of the 2-layer fuzzy controller is confirmed by application this controller to robot following, simulation to each other and real experiment.
Keywords
2-Layer Fuzzy Control; Obstacle Avoidance; Robot Following; Multi-functional Intelligent Robot;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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