Reactive Control Using Behavior Modelling of a Mobile Robot | Zendy

Imen Ayari | Zendy; A. Chatti | Zendy

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Reactive Control Using Behavior Modelling of a Mobile Robot

Author(s) -

Imen Ayari,

A. Chatti

Publication year - 2007

Publication title -

international journal of computers communications and control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.422

H-Index - 33

eISSN - 1841-9844

pISSN - 1841-9836

DOI - 10.15837/ijccc.2007.3.2355

Subject(s) - computer science , task (project management) , obstacle avoidance , mobile robot , set (abstract data type) , robot , controller (irrigation) , artificial intelligence , action (physics) , fuzzy logic , path (computing) , control (management) , fuzzy control system , control engineering , engineering , agronomy , programming language , physics , systems engineering , quantum mechanics , biology

This paper deals with the reactive control of an autonomous robot which should move safely in a crowded unknown environment to reach a goal. A behavior based approach is used to realize obstacle avoidance within a neural model conceived from a set of examples of perception/action relations; supervised learning is used for the aim; while goal-reaching task is realized using a fuzzy rule-based system. A task activation module is used to generate the overall command, resulting from the fuzzy controller and the neural model. Real time simulation examples of generated path with proposed techniques are presented.

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