Fuzzy Logic Techniques for Autonomous Vehicle Navigation

✍ Scribed by Alessandro Saffiotti (auth.), Ass. Prof. Dr. Dimiter Driankov, Ass. Prof. Dr. Alessandro Saffiotti (eds.)

• Publisher: Physica-Verlag Heidelberg
• Year: 2001
• Tongue: English
• Leaves: 387
• Series: Studies in Fuzziness and Soft Computing 61
• Edition: 1
• Category: Library

✦ Synopsis

The goal of autonomous mobile robotics is to build and control physical systems which can move purposefully and without human intervention in real-world environments which have not been specifically engineered for the robot. The development of techniques for autonomous mobile robot operation constitutes one of the major trends in the current research and practice in modern robotics. This volume presents a variety of fuzzy logic techniques which address the challenges posed by autonomous robot navigation. The focus is on four major problems: how to design robust behavior-producing control modules; how to use data from sensors for the purpose of environment modeling; and how to integrate high-level reasoning and low-level behavior execution. In this volume state-of-the-art fuzzy logic solutions are presented and their pros and cons are discussed in detail based on extensive experimentation on real mobile robots.

✦ Table of Contents

Front Matter....Pages I-VIII
Front Matter....Pages 1-1
Fuzzy Logic in Autonomous Navigation....Pages 3-24
A Reminder on Fuzzy Logic....Pages 25-47
Front Matter....Pages 49-49
Mobile Robot Path Tracking and Visual Target Tracking Using Fuzzy Logic....Pages 51-72
Fuzzy Logic for Fusion of Tactical Influences on Vehicle Speed Control....Pages 73-96
Neuro-Fuzzy Control for Basic Mobile Robot Behaviours....Pages 97-117
The Role of Fuzzy Logic Control in Evolutionary Robotics....Pages 119-147
Front Matter....Pages 149-149
Resolving Conflicts Between Behaviors Using Suppression and Inhibition....Pages 151-178
Multi-Layered Fuzzy Behavior Fusion for Reactive Control of Autonomous Robots....Pages 179-203
Fuzzy-Behavior Synthesis, Coordination, and Evolution in an Adaptive Behavior Hierarchy....Pages 205-234
Multiple Objective vs. Fuzzy Behavior Coordination....Pages 235-253
Front Matter....Pages 255-255
Accurate Map Building via Fusion of Laser and Ultrasonic Range Measures....Pages 257-279
Map Generation by Co-operative Autonomous Robots Using Possibility Theory....Pages 281-312
Integrating Linguistic Descriptions and Sensor Observations for the Navigation of Autonomous Robots....Pages 313-339
Front Matter....Pages 341-341
MORIA: A Robot with Fuzzy Controlled Behaviour....Pages 343-365
Integrating Deliberative and Reactive Strategies via Fuzzy Modular Control....Pages 367-385
Back Matter....Pages 386-393

✦ Subjects

Engineering Economics, Organization, Logistics, Marketing; Control, Robotics, Mechatronics; Artificial Intelligence (incl. Robotics)