Abstract
Intelligent control of mobile systems allows for hierarchical structures that utilize sensory data with various levels of accuracy. This paper discusses a rule-based approach for the control problem. The assumed inexactness in world description is represented by fuzzy memberships, and the state space is discretized into a linguistic vocabulary. Fuzzy motion control rules that have been experimentally derived, are then used in a fuzzy inference mechanism to give the final control command to robot actuators. Finally, the developed algorithm is tested for real-time control applications.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 37-42 |
| Number of pages | 6 |
| Journal | Robotica |
| Volume | 7 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 1989 |
Keywords
- Fuzzy system
- Mobile robot
- Rule-based
- control
ASJC Scopus subject areas
- Software
- Mechanical Engineering
- Control and Optimization
- Artificial Intelligence
- Rehabilitation
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Computational Mechanics
- General Mathematics
- Modeling and Simulation