JICCE (한국정보통신학회)
Current Result Document : 6 / 6
| 한글제목(Korean Title) |
Fusion of Hierarchical Behavior-based Actions in Mobile Robot Using Fuzzy Logic |
| 영문제목(English Title) |
Fusion of Hierarchical Behavior-based Actions in Mobile Robot Using Fuzzy Logic |
| 저자(Author) |
Gan Zhen Ye
Dae-Ki Kang
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| 원문수록처(Citation) |
VOL 10 NO. 02 PP. 0149 ~ 0155 (2012. 06) |
한글내용
(Korean Abstract) |
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영문내용
(English 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. |
| 키워드(Keyword) |
Behavior-based system
Command fusion
Fuzzy logic
Mobile robot control architecture
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| 파일첨부 |
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