Peer-Reviewed Journal Details
Mandatory Fields
Flanagan C, Toal D, Leyden M.
2003
International Journal Of Smart Engineering System Design
Subsumption and fuzzy-logic, experiments in behavior-based control of mobile robots
Published
()
Optional Fields
Autonomous Mobile Robots Artificial Intelligence Subsumption Behavior-based Control Fuzzy Logic Robot Navigation Obstacle Avoidance
5
3
161
175
This article describes experiments in enhancing the subsumption approach to behaviour-based control as applied to a wheeled autonomous mobile robot. A modified or enhanced subsumption control approach is used, which reverses the behaviour priority ordering between layers, and experimental results are reported. Modified behaviours employing fuzzy logic for command fusion are discussed and the testing of these demonstrates significant improvements in navigation around obstacles towards a goal.
ISSN: 1025 5818
10.1080/10255810305048
Grant Details