1 November 1992 Application of fuzzy logic in robot control
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Proceedings Volume 1826, Intelligent Robots and Computer Vision XI: Biological, Neural Net, and 3D Methods; (1992) https://doi.org/10.1117/12.131614
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
Abstract
During the past several years, fuzzy control has emerged as a suitable control strategy for many complex and nonlinear control problems. The control provided by fuzzy logic is both smooth and accurate. Also the 'if-then' rules of fuzzy control systems are easy to understand and relatively easy to develop. This paper presents a toolkit which is used in the implementation of fuzzy control system. The toolkit consists of C++ class library which computes inferences in fuzzy logic. The toolkit is used to implement a fuzzy control system which controls the movement of a simulated mobile robot. The proposed architecture consists of several rulesets. Each ruleset specializes in some control task, for example, there are rulesets for going around an obstacle, avoiding a moving obstacle, going through a door, etc. The multiple ruleset fuzzy control system is used to guide the simulated mobile robot to a given goal in an unknown environment. With the proposed multiple ruleset architecture complex control problems can be solved while single rulesets remain simple and efficient.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Seppo Kemppainen, Juha Roening, "Application of fuzzy logic in robot control", Proc. SPIE 1826, Intelligent Robots and Computer Vision XI: Biological, Neural Net, and 3D Methods, (1 November 1992); doi: 10.1117/12.131614; https://doi.org/10.1117/12.131614
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