Modified fuzzy behavior coordination for autonomous mobile robot navigation system
In behavior based robotics, development of behavior coordination method is very important. Fuzzy behavior coordination (FBC) can be used here, but it still have weaknesses, because it can result in slow robot movement, too long time to reach the target and fail to avoid trap. In this paper, modifica...
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| creator | Wicaksono, H. Prihastono Anam, K. Effendi, R. Indra Adji, S. Kuswadi, S. Jazidie, A. Sampei, M. |
| description | In behavior based robotics, development of behavior coordination method is very important. Fuzzy behavior coordination (FBC) can be used here, but it still have weaknesses, because it can result in slow robot movement, too long time to reach the target and fail to avoid trap. In this paper, modification of FBC, by combining it with subsumption architecture, is proposed to overcome those weaknesses. The simulation result shows that MFBC give the faster robot movement and decrease the amount of time to reach the target. |
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Fuzzy behavior coordination (FBC) can be used here, but it still have weaknesses, because it can result in slow robot movement, too long time to reach the target and fail to avoid trap. In this paper, modification of FBC, by combining it with subsumption architecture, is proposed to overcome those weaknesses. 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The simulation result shows that MFBC give the faster robot movement and decrease the amount of time to reach the target.</description><subject>behavior coordination</subject><subject>behavior-based robotics</subject><subject>Fuzzy control</subject><subject>Fuzzy logic</subject><subject>Fuzzy systems</subject><subject>Informatics</subject><subject>Mechatronics</subject><subject>Mobile robots</subject><subject>Navigation</subject><subject>Process control</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><isbn>9784907764340</isbn><isbn>4907764340</isbn><isbn>9784907764333</isbn><isbn>4907764332</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVjNtKw0AURUdEUGq-wJf5gcAk58ztUYo3qAjqe5mrjjQ5kkmF9Ost1BefNmux2GessdqgFVorBIDzf4zikjW1fgkhOqt0D_aKvT5TLLmkyPP-cFi4T5_up9DEA9EUy-jmQiPPR-H2M4000L7ygXzZJT6Rp5mPx_7jlNWlzmm4ZhfZ7Wpq_nbF3u7v3teP7ebl4Wl9u2mLFXPbG4y9CiZnCBoxdcFrGZQXLkptjRSI0ngPMUO0wUQZFXoIWfaICjKs2M3ptaSUtt9TGdy0bCVAb00Hv2vITVw</recordid><startdate>200908</startdate><enddate>200908</enddate><creator>Wicaksono, H.</creator><creator>Prihastono</creator><creator>Anam, K.</creator><creator>Effendi, R.</creator><creator>Indra Adji, S.</creator><creator>Kuswadi, S.</creator><creator>Jazidie, A.</creator><creator>Sampei, M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200908</creationdate><title>Modified fuzzy behavior coordination for autonomous mobile robot navigation system</title><author>Wicaksono, H. ; Prihastono ; Anam, K. ; Effendi, R. ; Indra Adji, S. ; Kuswadi, S. ; Jazidie, A. ; Sampei, M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-284d26c8ff3c744e1cb75c6b0ad5798504458bb3df3d9c8d5d64b3cf524463f3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>behavior coordination</topic><topic>behavior-based robotics</topic><topic>Fuzzy control</topic><topic>Fuzzy logic</topic><topic>Fuzzy systems</topic><topic>Informatics</topic><topic>Mechatronics</topic><topic>Mobile robots</topic><topic>Navigation</topic><topic>Process control</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><toplevel>online_resources</toplevel><creatorcontrib>Wicaksono, H.</creatorcontrib><creatorcontrib>Prihastono</creatorcontrib><creatorcontrib>Anam, K.</creatorcontrib><creatorcontrib>Effendi, R.</creatorcontrib><creatorcontrib>Indra Adji, S.</creatorcontrib><creatorcontrib>Kuswadi, S.</creatorcontrib><creatorcontrib>Jazidie, A.</creatorcontrib><creatorcontrib>Sampei, M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Wicaksono, H.</au><au>Prihastono</au><au>Anam, K.</au><au>Effendi, R.</au><au>Indra Adji, S.</au><au>Kuswadi, S.</au><au>Jazidie, A.</au><au>Sampei, M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Modified fuzzy behavior coordination for autonomous mobile robot navigation system</atitle><btitle>2009 ICCAS-SICE</btitle><stitle>ICCAS-SICE</stitle><date>2009-08</date><risdate>2009</risdate><spage>2944</spage><epage>2948</epage><pages>2944-2948</pages><isbn>9784907764340</isbn><isbn>4907764340</isbn><eisbn>9784907764333</eisbn><eisbn>4907764332</eisbn><abstract>In behavior based robotics, development of behavior coordination method is very important. Fuzzy behavior coordination (FBC) can be used here, but it still have weaknesses, because it can result in slow robot movement, too long time to reach the target and fail to avoid trap. In this paper, modification of FBC, by combining it with subsumption architecture, is proposed to overcome those weaknesses. The simulation result shows that MFBC give the faster robot movement and decrease the amount of time to reach the target.</abstract><pub>IEEE</pub><tpages>5</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | behavior coordination behavior-based robotics Fuzzy control Fuzzy logic Fuzzy systems Informatics Mechatronics Mobile robots Navigation Process control Robot kinematics Robot sensing systems |
| title | Modified fuzzy behavior coordination for autonomous mobile robot navigation system |
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