Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30184
A Fuzzy Logic Based Navigation of a Mobile Robot

Authors: Anis Fatmi, Amur Al Yahmadi, Lazhar Khriji, Nouri Masmoudi

Abstract:

One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.

Keywords: Behavior based navigation, context based coordination, fuzzy logic, mobile robots.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1070975

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1445

References:


[1] R. C. Arkin, "Towards Cosmopolitan Robots: Intelligent Navigation in Extended Man-made Environments ", PhD Thesis, University of Massachusetts, Department of Computer and Information Science, 1987.
[2] R. C. Arkin, "Motor schema-based mobile robot navigation ", Int. J. of Robotic Research, Vol 8, pp. 92-112, 1989.
[3] R. C. Arkin and Tucker Balch, "AuRA: Principles and Practice in Review ", Journal of Experimental and Theoretical Artificial Intelligence(JETAI), Vol. 9, No. 2/3, pp. 175-188, April, 1997
[4] R. A. Brooks "A Robust Layered Control System for a Mobile Robot", IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14-23; also MIT AI Memo 864, September 1985.
[5] R. A. Brooks "A Robot that Walks; Emergent Behavior from a Carefully Evolved Network", Neural Computation, 1:2, Summer 1989, pp. 253- 262. Also in IEEE International Conference on Robotics and Automation, Scottsdale, AZ, May 1989, pp. 292-296
[6] Maja J Mataric', "Behavior-Based Control: Examples from Navigation, Learning, and Group Behavior", Journal of Experimental and Theoretical Artificial Intelligence, special issue on Software Architectures for Physical Agents, Vol. 9, No.2/3, H. Hexmoor, I. Horswill, and D. Kortenkamp, eds., 1997, 323-336
[7] J. Rosenblatt "DAMN: A Distributed Architecture for Mobile Navigation ", Ph.D. dissertation, Carnegie Mellon University Robotics Institute Technical Report CMU-RI-TR-97-01, Pittsburgh, PA, 1995.
[8] J. Rosenblatt and D.W. Payton, "A Fine-Grained Alternative to the Subsumption Architecture for Mobile Robot Control ", Proceedings of the IEEE/INNS International Joint Conference on Neural Networks, Washington DC, June 1989, vol. 2, pp. 317-324.
[9] D. Langer, J.K. Rosenblatt, and M. Hebert, "A Behavior-Based System For Off-Road Navigation ", IEEE Journal of Robotics and Automation , Vol. 10, No. 6, pp. 776-782, 1994.
[10] P. Maes, "How to do the Right Thing ", Connection Science Journal, Special Issue on Hybrid Systems, Vol. 1, 1990
[11] A. Saffiotti, "The uses of fuzzy logic for autonomous robot navigation: a catalogue raisonn'e ", Soft Computing Research journal, Vol. 1, No. 4, pp. 180-197, 1997
[12] H. Seraji and A. Howard, "Behavior-based robot navigation on challenging terrain: A fuzzy logic approach ", IEEE Trans. Rob. Autom. Vol. 18, No. 3, pp. 308-321,2002
[13] H. Seraji, A. Howard and E. Tunstell, "Terrain-Based Navigation of Planetary Rovers: A Fuzzy Logic Approach ", Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space, Canada, June 18-22, 2001.
[14] Simon X. Yang, Hao Li, , Max Q.-H Meng, and Peter X Liu, "An Embedded Fuzzy Controller for a Behavior-Based Mobile Robot with Guaranteed Performance ", IEEE Transactions on Fuzzy Systems, Vol. 12, No. 4, pp.436-446,August 2004.
[15] X. Yang, M. Moallem, and R. V. Patel "A Layered Goal-Oriented Fuzzy Motion Planning Strategy for Mobile Robot Navigation ", IEEE transactions on systems, man, and cyberneticsÔÇöpart b: cybernetics, Vol. 35, no. 6, 1214-1224, December 2005.
[16] Majura F. Selekwa, Damion D. Dunlap, and Emmanuel G. Collins, Jr., "Implementation of Multi-valued Fuzzy Behavior Control for Robot Navigation in Cluttered Environments ", Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, pp., 3699-3706, April 2005
[17] Eugenio Aguirre and Antonio Gonzales, "Fuzzy behaviors for mobile robot navigation:design, coordination and fusion ", Int. J. of Approximate Reasoning, Vol. 25, pp. 255-289, 2000.
[18] Philipp Althaus and Henrick I. Christensen, "Behavior coordination for navigation in office environment ", Proceedings of 2002 IEEE/RSJ Int. Conference on Intelligent Robots and Systems, pp. 2298-2304, Switzerland, 2002
[19] E. Tunstel and T. Lippincott and M. Jamshidi, "Behavior Hierarchy for Autonomous Mobile Robots: Fuzzy-behavior modulation and evolution", International Journal of Intelligent Automation and Soft Computing, Special Issue: Autonomous Control Engineering at NASA ACE Center, Vol. 3,No. 1,pp. 37--49, 1997.