An Approach in Designing Hierarchy of Fuzzy Behaviors for Mobile Robot Navigation
Long Thanh Ngo*, Long The Pham*, Phuong Hoang Nguyen**,
and Kaoru Hirota***
*Center of Simulation Technology, Le Quy Don Technical University, 100-Hoang Quoc Viet Rd., Cau Giay Dist., Hanoi, Vietnam
**Center of Health Information Technology, Ministry of Health, 3-Phuong Mai St., Dong Da Dist., Hanoi, Vietnam
***Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, G3-49, 4259 Nagatsuta, Modori-ku, Yokohama 226-8502, Japan
We propose an approach to the design hierarchical behaviors for mobile robot navigation in which robot perceives information about the environment from sensor then computes fuzzy output for individual behavior. Each behavior involves a fuzzy controller with the same output. The behavior hierarchy combines commands from fuzzy behavior output and defuzzifies it to archive crisp values for controlling the direction in which robot moves. Simulation results and statistics demonstrate the feasibility of our proposal.
-  R. A. Brooks, “A Robust Layer Control System for a Mobile Robot,” IEEE Journal of Robotics and Automation, Vol.2, No.1, pp. 14-23, 1986.
-  C. Ye and D. Wang, “A Novel Behavior Fusion Method for the Navigation of Mobile Robots,” Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, Nashville, TN, 2001, pp. 3526-3531.
-  S. Thongchai, S. Suksakulchai, D. M. Wilkes, and N. Sarkar, “Sonar Behavior-Based Fuzzy Control for a Mobile Robot,” Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2000.
-  J. Yen and N. Pfluger, “A fuzzy logic based extension to Payton and Rosenblatt’s command fusion method for mobile robot navigation,” IEEE Trans. Systems, Man and Cybernetics, 25(6), pp. 971-978, 1995.
-  P. Matsakis and L. Wendling, “A New Way to Represent the Relative Position of Areal Objects,” PAMI (IEEE Trans. on Pattern Analysis and Machine Intelligence), Vol.21, No.7, pp. 634-643, 1999.
-  R. Bondugula, P. Matsakis, and J. Keller, “Force Histograms and Neural Networks for Human-Based Spatial Relationship Generalization,” NCI 2004 (IASTED Int. Conf. on Neural Networks and Computational Intelligence), Grindelwald, Switzerland, February 2004, Proceedings.
-  M. Skubic, P. Matsakis, G. Chronis, and J. Keller, “Generating Multi-level Linguistic Spatial Descriptions from Range Sensor Readings Using the Histogram of Forces,” Autonomous Robots, Vol.14, No.1, pp. 51-69, 2003.
-  K. Miyajima and A. Ralescu, “Spatial organization in 2D segmented images: representation and recognition of primitive spatial relations,” Fuzzy Sets and Systems, 65(2/3), pp. 225-236, 1994.
-  L. T. Ngo, L. T. Pham, P. H. Nguyen, and K. Hirota, “Extending fuzzy directional relationship and applying for mobile robot collision avoidance behavior,” International Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.10, No.4, pp. 444-450, 2006.
-  D. Payton, J. Rosenblatt, and D. Keirsey, “Plan Guided Reaction,” IEEE Trans. System, Man and Cybernetics, Vol.20, No.6, pp. 1370-1382, Nov., 1990.
-  P. Rusu, E. M. Petriu, T. E. Whalen, A. Cornell, and H. J. W. Spoelder, “Behavior-Based Neuro-Fuzzy Controller for Mobile Robot Navigation,” IEEE Trans. on Instrumentation and Measurement, Vol.52, No.4, pp. 1135-1140, 2003.
-  A. Saffiotti, “Fuzzy Logic in Autonomous Robotics: Behavior Coordination,” In Proceedings of the IEEE International Conference on Fuzzy Systems, Bercelona, Spain, pp. 573-578, July, 1997.
-  F. Hoffmann, “An Overview on Soft Computing in Behavior Based Robotics,” IFSA 2003, pp. 544-551.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.