| Paper Details: | Downloads: 457 |
| Serial Number: | P1130533120
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| Title: | Behavior based Mobile Robot Navigation Technique using AI System:
Experimental Investigations
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| Authors: | S.Parasuraman and V.Ganapathy and Bijan Shirinzadeh1
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| Abstract: | A key issue in the research of an autonomous mobile
robot is the design and development of a navigation
technique that enables the robot to navigate in a real
world environment. This paper is focused on the (a)
Establishment of a methodology to model the control
system that optimizes the behavior rules using Fuzzy
Associative Memory (FAM) for mobile robot navigation.
The existing methods focuses on mainly to map certain
portion of the input space to the outputs, whereas the
method proposed in the research is mainly based on
mapping of the entire input space to the outputs. The
proposed FAM approach reduces the number rules
significantly. (b) Experimental investigations of mobile
robot using the proposed Alpha level fuzzy logic system
are discussed and evaluated. These methodologies are
tested and evaluated using Active Media Pioneer, Nomad
Scout and Khepera II Robots. The results are analyzed,
evaluated and compared with the most accepted methods.
This approach provides a formal methodology for
representing and implementing the human expert
heuristic knowledge and perception-based action in robot
navigation without needing of any analytical model.
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| Keywords: | Autonomous robot, Behavior, Obstacle, Fuzzy
logic, Behaviour conflicts, Alpha level fuzzy set.
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| Journal/Conference: | ICGST Conference on Automation, Robotics and Autonomous Systems, ARAS-05
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| Volume: |
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| Issue: |
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| Submission Date: | 8/1/2005 12:00:00 AM
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| Review Date: | 9/1/2005 12:00:00 AM
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| Publishing Date: | 12/19/2005 12:00:00 AM
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| Article Downloads: | 457
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| Download: |
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