A fuzzy temporal rule-based velocity controller for mobile robotics
Fuzzy Sets and SystemsPublished 30 January 2003
Manuel Mucientes, Roberto Iglesias, Carlos V. Regueiro, A. Bugarín, Senén Barro
Citations36
SJR quartileQ1
SJR score0.75
SNIP1.25
Generate an AI Snapshot to get a quick, structured summary of this paper.
Study Snapshot
ObjectiveStudy objective
MethodsResearch methodology
PopulationPopulation studied
Sample sizeSample sizes
OutcomesStudy outcomes here
ResultsStudy results comes here
LimitationsResearch study limitations comes here
A concise AI-generated summary of the paper will appear here once you click Generate AI Snapshot.
TL;DR
This paper describes a velocity controller implemented on a Nomad 200 mobile robot, developed for wall-following behaviour, and its design is modularized into two blocks: angular and linear velocity control.
Abstract
This paper describes a velocity controller implemented on a Nomad 200 mobile robot. The controller has been developed for wall-following behaviour, and its design is modularized into two blocks: angular and linear velocity control. A simple design and implementation was made for the former, with the aim of focusing the design efforts on the linear velocity control block, in order to remark the usefulness of this task. The latter has been implemented using an explicit model for knowledge representation and reasoning called fuzzy temporal rules (FTRs). This model enables to explicitly incorporate time as a variable, due to which the evolution of variables in a temporal reference can be described. Using this mechanism we obtain linear velocity values that are adapted to each different circumstance, and thus a higher average velocity as well as smoother and more robust behaviours are achieved.
Keywords
Computer Science
Springer series in information sciencesSelf-Organizing Maps
10,377 Citations1997Teuvo Kohonen
The mathematical preliminaries, background, basic ideas, and implications of the Self-Organising Map algorithm are expounded in a manner which is accessible without prior expert knowledge.
Soft ComputingThe uses of fuzzy logic in autonomous robot navigation
380 Citations1997Alessandro Saffiotti
This paper focuses on four issues: how to design robust behavior-producing modules; how to coordinate the activity of several such modules;How to use data from the sensors; and how to integrate high-level reasoning and low-level execution.
A wall following robot with a fuzzy logic controller optimized by a genetic algorithm
49 Citations2002Reinhard Braunstingl, Jokin Mujika +1 more
A wall following mobile robot equipped with ultrasonic sensors is presented which uses a fuzzy logic controller and local navigation strategy and the basis for reactive navigation is provided by the concept of general perception which passes perceptual information of the sensors on to the fuzzy system without modeling walls or obstacles.
Fuzzy Sets and SystemsRepresentation and use of imprecise temporal knowledge in dynamic systems
37 Citations1992Da-qun Qian
A representation of imprecise temporal knowledge is given for describing the dynamic behavior of systems and a method for fuzzy proposition reasoning and temporal reasoning is put forward.
Fuzzy Sets and SystemsAttention to time in fuzzy logic
34 Citations1996Jernej Virant, Nikolaj Zimic
This paper tries to put up a fuzzy set as a fuzzy time variable, time dependent fuzzy rule, fuzzy time operator and similar items, which can give us a new time extension of fuzzy logic.
Robotics and Autonomous SystemsAutomatic generation of fuzzy rules for reactive robot controllers
30 Citations1997Giovanna Castellano, G. Attolico +1 more
This work presents two methods for the automatic extraction of fuzzy rules from numerical data acquired by recording the choices of a human operator driving the vehicle in representative training situations, and produces wall-followers that are compared in terms of complexity and quality of behavior in actual navigation runs of the robot along arbitrarily shaped walls.
Proceedings of 6th International Fuzzy Systems ConferenceFuzzy behaviors combination to control a nonholonomic mobile robot using virtual perception memory
28 Citations2002Begoña C. Arrue, Federico Cuesta +2 more
This paper presents the implementation of the combination of fuzzy reactive navigation behaviors using virtual perception memory to make a robot controller more robust with respect to temporary loss of sensorial information.
Fuzzy Sets and SystemsDynamical fuzzy reasoning and its application to system modeling
25 Citations1996Hiroshi Maeda, Shinichiro Asaoka +1 more
This paper considers a method of dynamical fuzzy reasoning that has a time delay between premise and consequent in fuzzy rule-base knowledge qualitatively and shows how to apply it to system models whose basis is System Dynamics.
Proceedings of 6th International Fuzzy Systems ConferenceFuzzy modelling operator navigation behaviors
14 Citations2002Alfonso García-Cerezo, Anthony Mandow +1 more
The paper illustrates the application of the fuzzy modelling method to model the behaviors of a human expert operator driving a real mobile robot equipped with ultrasonic sensors.
Studies in fuzziness and soft computingFuzzy Temporal Rules: A Rule-based Approach for Fuzzy Temporal Knowledge Representation and Reasoning
12 Citations2002Purificación Cariñena, Alberto Bugarín +3 more
A model for the representation and execution of a type of fuzzy control rules that explicitly handle time variable (Fuzzy Temporal Rules) is presented and a complete grammar that formally describes the representation language of the model is presented, together with its semantic counterpart.
International Journal of Intelligent SystemsArtificial evolution of fuzzy rule bases which represent time: A temporal fuzzy classifier system
12 Citations1998Brian Carse, Terence C. Fogarty +1 more
Experimental results in applying the fuzzy temporal classifier system to control of a time‐delayed plant and to the distributed problem of adaptive routing in communication networks are presented.
Lecture notes in computer scienceSupervised reinforcement learning: Application to a wall following behaviour in a mobile robot
10 Citations1998Roberto Iglesias, Carlos V. Regueiro +2 more
The design of a control approach is described in which the learning potential is combined with the previous knowledge of the task in question, obtaining as a result rapid convergence to the desired behaviour as well as an increase in the stability of the process.
Use of fuzzy temporal rules for avoidance of moving obstacles in mobile robotics.
5 Citations1999Manuel Mucientes, Roberto Iglesias +4 more
A fuzzy control system has been developed for the avoidance of moving objects by a robot and has been subjected to a complete simulation process and certain results are commented upon and an example is presented.