Fuzzy Logic in Autonomous Robot Navigation
a case study
The contents of this note appear as Chapter G6 ``Autonomous Robot Navigation'' in the
Handbook of Fuzzy
Computation, E. Ruspini, P. Bonissone and W. Pedrycz, Eds. (Oxford
Univ. Press and IOP Press, 1998).
The development of techniques for autonomous navigation
constitutes one of the major trends in the current research on mobile
robotics. In this case study, we discuss how fuzzy computation
techniques have be used in the SRI International mobile robot Flakey
to address some of the difficult issues posed by autonomous
navigation: (i) how to design basic behaviors; (ii) how to coordinate
behaviors to execute full navigation plans; and (iii) how to use
approximate map information. Our techniques have been validated in
both in-house experiments and public events. The use of fuzzy logic
has resulted in smooth motion control, robust performance in face of
errors in the prior knowledge and in the sensor data, and principled
integration between different layers of control.
- This paper in PostScript format
- gzip compressed (92 Kbytes)
- uncompressed (364 Kbytes).
- Other links
- Survey paper on using fuzzy logic in autonomous robotics
- Bibliography on the use of fuzzy logic in the robot Flakey
- Flakey's home page at SRI International
- Flakey in Action (movies)
The work on Flakey was done in collaboration with
Enrique Ruspini and
while the author was visiting the
of SRI International.
Support was partly provided by a grant from the
Italian National Council for Research, and partly by SRI
Last updated: August 7, 1997, by A. Saffiotti