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

101 Scopus citations

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 - Jun 1995

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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