One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.
[1] R. C. Arkin, "Towards Cosmopolitan Robots: Intelligent Navigation in
Extended Man-made Environments ", PhD Thesis, University of
Massachusetts, Department of Computer and Information Science, 1987.
[2] R. C. Arkin, "Motor schema-based mobile robot navigation ", Int. J. of
Robotic Research, Vol 8, pp. 92-112, 1989.
[3] R. C. Arkin and Tucker Balch, "AuRA: Principles and Practice in
Review ", Journal of Experimental and Theoretical Artificial
Intelligence(JETAI), Vol. 9, No. 2/3, pp. 175-188, April, 1997
[4] R. A. Brooks "A Robust Layered Control System for a Mobile Robot",
IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986,
pp. 14-23; also MIT AI Memo 864, September 1985.
[5] R. A. Brooks "A Robot that Walks; Emergent Behavior from a Carefully
Evolved Network", Neural Computation, 1:2, Summer 1989, pp. 253-
262. Also in IEEE International Conference on Robotics and
Automation, Scottsdale, AZ, May 1989, pp. 292-296
[6] Maja J Mataric', "Behavior-Based Control: Examples from Navigation,
Learning, and Group Behavior", Journal of Experimental and
Theoretical Artificial Intelligence, special issue on Software
Architectures for Physical Agents, Vol. 9, No.2/3, H. Hexmoor, I.
Horswill, and D. Kortenkamp, eds., 1997, 323-336
[7] J. Rosenblatt "DAMN: A Distributed Architecture for Mobile
Navigation ", Ph.D. dissertation, Carnegie Mellon University Robotics
Institute Technical Report CMU-RI-TR-97-01, Pittsburgh, PA, 1995.
[8] J. Rosenblatt and D.W. Payton, "A Fine-Grained Alternative to the
Subsumption Architecture for Mobile Robot Control ", Proceedings of
the IEEE/INNS International Joint Conference on Neural Networks,
Washington DC, June 1989, vol. 2, pp. 317-324.
[9] D. Langer, J.K. Rosenblatt, and M. Hebert, "A Behavior-Based System
For Off-Road Navigation ", IEEE Journal of Robotics and Automation ,
Vol. 10, No. 6, pp. 776-782, 1994.
[10] P. Maes, "How to do the Right Thing ", Connection Science Journal,
Special Issue on Hybrid Systems, Vol. 1, 1990
[11] A. Saffiotti, "The uses of fuzzy logic for autonomous robot navigation: a
catalogue raisonn'e ", Soft Computing Research journal, Vol. 1, No. 4,
pp. 180-197, 1997
[12] H. Seraji and A. Howard, "Behavior-based robot navigation on
challenging terrain: A fuzzy logic approach ", IEEE Trans. Rob. Autom.
Vol. 18, No. 3, pp. 308-321,2002
[13] H. Seraji, A. Howard and E. Tunstell, "Terrain-Based Navigation of
Planetary Rovers: A Fuzzy Logic Approach ", Proceeding of the 6th
International Symposium on Artificial Intelligence and Robotics &
Automation in Space, Canada, June 18-22, 2001.
[14] Simon X. Yang, Hao Li, , Max Q.-H Meng, and Peter X Liu, "An
Embedded Fuzzy Controller for a Behavior-Based Mobile Robot with
Guaranteed Performance ", IEEE Transactions on Fuzzy Systems, Vol.
12, No. 4, pp.436-446,August 2004.
[15] X. Yang, M. Moallem, and R. V. Patel "A Layered Goal-Oriented Fuzzy
Motion Planning Strategy for Mobile Robot Navigation ", IEEE
transactions on systems, man, and cyberneticsÔÇöpart b: cybernetics, Vol.
35, no. 6, 1214-1224, December 2005.
[16] Majura F. Selekwa, Damion D. Dunlap, and Emmanuel G. Collins, Jr.,
"Implementation of Multi-valued Fuzzy Behavior Control for Robot
Navigation in Cluttered Environments ", Proceedings of the 2005 IEEE
International Conference on Robotics and Automation Barcelona, Spain,
pp., 3699-3706, April 2005
[17] Eugenio Aguirre and Antonio Gonzales, "Fuzzy behaviors for mobile
robot navigation:design, coordination and fusion ", Int. J. of
Approximate Reasoning, Vol. 25, pp. 255-289, 2000.
[18] Philipp Althaus and Henrick I. Christensen, "Behavior coordination for
navigation in office environment ", Proceedings of 2002 IEEE/RSJ Int.
Conference on Intelligent Robots and Systems, pp. 2298-2304,
Switzerland, 2002
[19] E. Tunstel and T. Lippincott and M. Jamshidi, "Behavior Hierarchy for
Autonomous Mobile Robots: Fuzzy-behavior modulation and
evolution", International Journal of Intelligent Automation and Soft
Computing, Special Issue: Autonomous Control Engineering at NASA
ACE Center, Vol. 3,No. 1,pp. 37--49, 1997.
[1] R. C. Arkin, "Towards Cosmopolitan Robots: Intelligent Navigation in
Extended Man-made Environments ", PhD Thesis, University of
Massachusetts, Department of Computer and Information Science, 1987.
[2] R. C. Arkin, "Motor schema-based mobile robot navigation ", Int. J. of
Robotic Research, Vol 8, pp. 92-112, 1989.
[3] R. C. Arkin and Tucker Balch, "AuRA: Principles and Practice in
Review ", Journal of Experimental and Theoretical Artificial
Intelligence(JETAI), Vol. 9, No. 2/3, pp. 175-188, April, 1997
[4] R. A. Brooks "A Robust Layered Control System for a Mobile Robot",
IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986,
pp. 14-23; also MIT AI Memo 864, September 1985.
[5] R. A. Brooks "A Robot that Walks; Emergent Behavior from a Carefully
Evolved Network", Neural Computation, 1:2, Summer 1989, pp. 253-
262. Also in IEEE International Conference on Robotics and
Automation, Scottsdale, AZ, May 1989, pp. 292-296
[6] Maja J Mataric', "Behavior-Based Control: Examples from Navigation,
Learning, and Group Behavior", Journal of Experimental and
Theoretical Artificial Intelligence, special issue on Software
Architectures for Physical Agents, Vol. 9, No.2/3, H. Hexmoor, I.
Horswill, and D. Kortenkamp, eds., 1997, 323-336
[7] J. Rosenblatt "DAMN: A Distributed Architecture for Mobile
Navigation ", Ph.D. dissertation, Carnegie Mellon University Robotics
Institute Technical Report CMU-RI-TR-97-01, Pittsburgh, PA, 1995.
[8] J. Rosenblatt and D.W. Payton, "A Fine-Grained Alternative to the
Subsumption Architecture for Mobile Robot Control ", Proceedings of
the IEEE/INNS International Joint Conference on Neural Networks,
Washington DC, June 1989, vol. 2, pp. 317-324.
[9] D. Langer, J.K. Rosenblatt, and M. Hebert, "A Behavior-Based System
For Off-Road Navigation ", IEEE Journal of Robotics and Automation ,
Vol. 10, No. 6, pp. 776-782, 1994.
[10] P. Maes, "How to do the Right Thing ", Connection Science Journal,
Special Issue on Hybrid Systems, Vol. 1, 1990
[11] A. Saffiotti, "The uses of fuzzy logic for autonomous robot navigation: a
catalogue raisonn'e ", Soft Computing Research journal, Vol. 1, No. 4,
pp. 180-197, 1997
[12] H. Seraji and A. Howard, "Behavior-based robot navigation on
challenging terrain: A fuzzy logic approach ", IEEE Trans. Rob. Autom.
Vol. 18, No. 3, pp. 308-321,2002
[13] H. Seraji, A. Howard and E. Tunstell, "Terrain-Based Navigation of
Planetary Rovers: A Fuzzy Logic Approach ", Proceeding of the 6th
International Symposium on Artificial Intelligence and Robotics &
Automation in Space, Canada, June 18-22, 2001.
[14] Simon X. Yang, Hao Li, , Max Q.-H Meng, and Peter X Liu, "An
Embedded Fuzzy Controller for a Behavior-Based Mobile Robot with
Guaranteed Performance ", IEEE Transactions on Fuzzy Systems, Vol.
12, No. 4, pp.436-446,August 2004.
[15] X. Yang, M. Moallem, and R. V. Patel "A Layered Goal-Oriented Fuzzy
Motion Planning Strategy for Mobile Robot Navigation ", IEEE
transactions on systems, man, and cyberneticsÔÇöpart b: cybernetics, Vol.
35, no. 6, 1214-1224, December 2005.
[16] Majura F. Selekwa, Damion D. Dunlap, and Emmanuel G. Collins, Jr.,
"Implementation of Multi-valued Fuzzy Behavior Control for Robot
Navigation in Cluttered Environments ", Proceedings of the 2005 IEEE
International Conference on Robotics and Automation Barcelona, Spain,
pp., 3699-3706, April 2005
[17] Eugenio Aguirre and Antonio Gonzales, "Fuzzy behaviors for mobile
robot navigation:design, coordination and fusion ", Int. J. of
Approximate Reasoning, Vol. 25, pp. 255-289, 2000.
[18] Philipp Althaus and Henrick I. Christensen, "Behavior coordination for
navigation in office environment ", Proceedings of 2002 IEEE/RSJ Int.
Conference on Intelligent Robots and Systems, pp. 2298-2304,
Switzerland, 2002
[19] E. Tunstel and T. Lippincott and M. Jamshidi, "Behavior Hierarchy for
Autonomous Mobile Robots: Fuzzy-behavior modulation and
evolution", International Journal of Intelligent Automation and Soft
Computing, Special Issue: Autonomous Control Engineering at NASA
ACE Center, Vol. 3,No. 1,pp. 37--49, 1997.
@article{"International Journal of Information, Control and Computer Sciences:57559", author = "Anis Fatmi and Amur Al Yahmadi and Lazhar Khriji and Nouri Masmoudi", title = "A Fuzzy Logic Based Navigation of a Mobile Robot", abstract = "One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.
", keywords = "Behavior based navigation, context based coordination, fuzzy logic, mobile robots.", volume = "2", number = "10", pages = "3403-6", }
