A FUZZY-LOGIC BASED EXTENSION TO PAYTON AND ROSENBLATTS COMMAND FUSION METHOD FOR MOBILE ROBOT NAVIGATION

被引：96

作者：

YEN, J

PFLUGER, N

机构：

[1] Center for Fuzzy Logic and Intelligent Systems Research, Department of Computer Science, Texas A&M University, College Station

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1995年 / 25卷 / 06期

基金：

美国国家科学基金会; 美国国家航空航天局;

关键词：

D O I：

10.1109/21.384260

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

David Payton and Ken Rosenblatt have proposed a command fusion method for combining outputs of multiple behaviors in a mobile robot navigation system such that information loss due to command fusion can be reduced. Using linguistic fuzzy rules to explicitly capture heuristics implicit in the Payton-Rosenblatt approach, we have extended their approach to a fuzzy logic architecture for mobile robot navigation in dynamic environments, which is simpler and easier to understand and modify. We have also developed and empirically tested a new defuzzification technique for alleviating difficulties in applying existing defuzzification methods to mobile robot navigation control.

引用

页码：971 / 978

页数：8

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