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 language||English (US)|
|Number of pages||8|
|Journal||IEEE Transactions on Systems, Man, and Cybernetics|
|State||Published - Jun 1995|
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