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JRM Vol.8 No.6 pp. 538-554
doi: 10.20965/jrm.1996.p0538
(1996)

Paper:

Intelligent Control of a Mobile Robot for Service Use in Office Buildings and Its Soft Computing Algorithms

Takayuki Tanaka*, Junji Ohwi*, Ludmila V. Litvintseva**,
Kazuo Yamafuji* and Sergei V. Ulyanov*

*Department of Mechanical and Control Engineering, The University of Electro-Communications, Chofu, Tokyo 182, Japan

**Artificial Intelligence Research Centre of Program System Institute, Russian Academy of Science, Botik, Pereslavl-Zallesky, 152140, Russia

Received:
January 31, 1996
Accepted:
April 30, 1996
Published:
December 20, 1996
Keywords:
Mobile robot for service use, Soft computing, Intelligent control, Genetic algorithm, Fuzzy neural network, Direct human-robot communication, Cognitive graphics
Abstract

The arrangement principles and design methodology on soft computing for complex control framework of AI control system are introduced. The basis of this methodology is computer simulation of dynamics for mechanical robotic system with the help of qualitative physics and search for possible solutions by genetic algorithms (GA). On fuzzy neural network (FNN) optimal solutions for navigation with avoidance of obstacles and technological operations as opening of door with a manipulator are obtained and knowledge base (KB) for fuzzy controller is formed. Fuzzy qualitative simulation, GA and hierarchical node map (HN), and FNN have demonstrated their effectiveness for path planning of a mobile robot for service use. New approach for direct human-robot communication with natural language and cognitive graphics is introduced. The results of fuzzy robot control simulation, monitoring, and experimental investigations are presented.

Cite this article as:
Takayuki Tanaka, Junji Ohwi, Ludmila V. Litvintseva,
Kazuo Yamafuji, and Sergei V. Ulyanov, “Intelligent Control of a Mobile Robot for Service Use in Office Buildings and Its Soft Computing Algorithms,” J. Robot. Mechatron., Vol.8, No.6, pp. 538-554, 1996.
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