Automatic Generation of Fuzzy Rules Using The Fuzzy Behaviorist Approach: The Case of Sensor-Based Robot Navigation

摘要

ABSTRACTA system for automatic generation of fuzzy rules is proposed which is based on a new approach, called “Fuzzy Behaviorist,” and on its associated formalism for rule base development in behavior-based robot control systems. The automated generator of fuzzy rules automatically constructs the membership functions of fuzzy rules that implement reasoning schemes that have been expressed in qualitative terms. The system also checks for completeness of the rule base and independence and/or redundancy of the rules to ensure that the requirements of the formalism are satisfied. Examples of the automatic generation of fuzzy rules for cases involving suppression and/or inhibition of fuzzy behaviors are given and discussed. Experimental results obtained with the automated fuzzy rule generator applied to the domain of sensor-based navigation in a priori unknown environments using one of our autonomous test-bed robots and a real car in outdoor environments are then presented and discussed to illustrate the feasi...