Thiết kế các hành vi mờ cho hệ dẫn đường robot tự hành

Ky yfai H^i thto ICT.rda'06 Proceedings of ICrr.rda'06. Hanoi May. 2'

DESIGNING FUZZY BEHAVIORS

FOR AUTONOMOUS ROBOT NAVIGATION SYSTEIM

Thiet ke cac hanh vi mcr cho he dan dircrng robot tu hanh

Ngo Thanh Long, Pham The Long, Nguyen Hoang Phuong

Abstract

Robot navigation using fuzzy behavior is suited in unknown and unstructured environmen

in which each behavior have an individual task. This paper deals with an approach ii

designing fuzzy behaviors including collision avoidance, wall-following, reach target. Thi

proposed hierarchy of fuzzy behaviors is used to fuse the command in which each behavioi

being fuzzy inference system and undertaking individual task. Its inputs are informatior

fused from sensors using fuzzy directional relationship. The simulation results with somt

statistics show that the system works correctly.

Keywords: robot navigation, fuzzy directional relation, fuzzy inference system, fuzzy

behavior, hierarchy of behavior.

Tom tdt

Ddn dudng robot sir dung cdc hdnh vi md phir hgp trong cdc mdi truang phi cdu true vd

khdng rd rdng, trong do mdi hdnh vi ddm nhdn mgt nhiem vu rieng. Bdi bdo de xudt mgt

phuang phdp thiet ke cdc hdnh vi md bao gom Irdnh chuang nggi vgt, theo-tuong, diin

dich. Mgt kien triic cua cdc hdnh vi ciing dugc de xudt de Idng hgp lenh dieu khien ciia

cdc hdnh vi, mdi hdnh vi Id mgt he suy dien ma. Ddu vdo ciia chiing Id thdng tin dugc tdng

hgp tit sensor dua tren quan he hudng ma cita hai ddi tugng. Cdc kit qud md phong vd

mgt sd thdng ke dugc sir dyng de kiem chiing tinh dn djnh cua phuang phdp.

TH khda: ddn dudng robot, quan he huang ma, hi suy dien ma, hdnh vi md, kiin true

hdnh vL

1. INTRODUCTION ^^^^^ ° " decomposing the problei

autonomous control by task. E. Petriu

Fuzzy behaviors with capable of making proposed the hierarchy of behaviors

inferences are well suited for mobile robot neuro-fuzzy controller by using sonar se

navigation because of uncertainty of the to detect obstacles. The command modi

environment. The hierarchy of behaviors is a fusion fuses the output of fuzzy infe

widely applied-methodology to divide the systems of behaviors and then defuzzi

system into several smaller subsystem in obtain the crisp value. Thongchai [3]

which each subsystem is a fuzzy behavior, behaviors to execute individual tasks an

The partitioning may guarantees real-time output of them is fused command based o

performance with a large rule-base by priority degree of each behavior. John Ye

reducing the complicated level of inference proposed the approach to fuse the oi

system. fuzzy set of behaviors into a final fuzz'

Recently, there are many approaches to ^^^ defuzifymg to get the crisp comn

design a hierarchy of behaviors applied in value￾robotics applications. Brooks [1] proposed an The paper deals with an approacl

approach to built behavior control paradigm designing fuzzy behaviors for mobile n