Fuzzy Drive Control of an Intelligent Robot

摘要

This paper describes the fuzzy drive control of an intelligent robot. The fuzzy control is applied to the controls of the steering (direction) and the driving speed of the robot. This fuzzy control system architecture is a hierarchy that is constructed by a visual sensor subsystem, a motor drive unit, and a fuzzy drive expert system which manages those subsystems. The fuzzy drive expert system is consist of the environment recognition rules, the steering control rules, the speed control rules, and the predictive control rules. One of the feature of this system is that the possible driving area is obtained from the driving results simulated by the candidate pairs of directions and speeds prior to the drive control. It was called the predictive control. The directions and the speeds for the drive control are decided by unifying the candicate pairs for directions and speeds in the possible driving area and those from the steering-speed control.