Abstract
This article describes experiments in enhancing the subsumption approach to behavior-based control as applied to a wheeled autonomous mobile robot. A modified or enhanced subsumption control approach is used, which reverses the behavior priority ordering between layers, and experimental results are reported. Modified behaviors employing fuzzy logic for command fusion are discussed and the testing of these demonstrates significant improvements in navigation around obstacles towards a goal.
| Original language | English |
|---|---|
| Pages (from-to) | 161-175 |
| Number of pages | 15 |
| Journal | International Journal of Smart Engineering System Design |
| Volume | 5 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Jul 2003 |
Keywords
- Artificial intelligence
- Autonomous mobile robots
- Behavior-based control
- Fuzzy logic
- Obstacle avoidance
- Robot navigation
- Subsumption