A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation

John Yen, Nathan Pfluger

Research output: Contribution to journalArticle

99 Citations (Scopus)

Abstract

David Payton and Ken Rosenblatt have proposed a command fusion method for combining outputs of multiple behaviors in a mobile robot navigation system such that information loss due to command fusion can be reduced. Using linguistic fuzzy rules to explicitly capture heuristics implicit in the Payton-Rosenblatt approach, we have extended their approach to a fuzzy logic architecture for mobile robot navigation in dynamic environments, which is simpler and easier to understand and modify. We have also developed and empirically tested a new defuzzification technique for alleviating difficulties in applying existing defuzzification methods to mobile robot navigation control.

Original languageEnglish (US)
Pages (from-to)971-978
Number of pages8
JournalIEEE Transactions on Systems, Man, and Cybernetics
Volume25
Issue number6
DOIs
StatePublished - Jan 1 1995

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Mobile robots
Fuzzy logic
Navigation
Fusion reactions
Fuzzy rules
Navigation systems
Linguistics

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

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A Fuzzy Logic Based Extension to Payton and Rosenblatt's Command Fusion Method for Mobile Robot Navigation. / Yen, John; Pfluger, Nathan.

In: IEEE Transactions on Systems, Man, and Cybernetics, Vol. 25, No. 6, 01.01.1995, p. 971-978.

Research output: Contribution to journalArticle

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