Applications of fuzzy logic control in autonomous robot systems†

摘要

Abstract The development of autonomous robots involves the imitation of human decisionmaking abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can be applied in different levels of control tasks. We first present the research results of applying fuzzy logic control in the motion execution of mobile systems and sensor-guided fine-motion of a manipulator. To realize real-time ‘reactive’ control, suitable hardware which supports the acceleration of fuzzy inference should be developed. The design and development of a VME-bus compatible fuzzy co-processor is also described.