Autonomous Robot Control Using Evidential Reasoning

Abstract

Evidence theory has been widely applied to uncertainty reasoning. In this paper a finite state machine with evidential reasoning is proposed to control autonomous robots. The Khepera robot is used to demonstrate the control system. The experimental results show that the control system is able to automatically control the robot behaviours via evidential control rules, which can be designed by humans or automatically extracted using machine learning approaches. Therefore, the control system provides an efficient approach to transfer human knowledge to an autonomous robot.