Fuzzy behavior fusion for reactive control of an autonomous mobile robot: MARGE

摘要

A distributed heterogeneous network of fuzzy control agents has been developed for reactive behavior-based control of an autonomous mobile robot This methodology allows the authors' vehicle, MARGE, to perform realistic tasks in unstructured environments. Control actions for the robot are generated by a colony of independent agents that compete and cooperate to determine the emergent motion of the vehicle. Fuzzy rules are used to implement a diverse array of real-time functions within one simple development environment. The authors' multi-layer approach differs from other methods that perform the fuzzy inference mapping in one step. Real-time control without special hardware is possible by using a singleton centroid calculation and by breaking complex behaviors down into simple modules.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>