Index
Logic
Uncertainty
Robotics
Recent

Blending reactivity and goal-directedness in a fuzzy controller

A. Saffiotti, E.H. Ruspini, and K. Konolige

Abstract
Controlling the movement of an autonomous mobile robot requires the ability to pursue strategic goals in a highly reactive way. We describe a fuzzy controller for such a mobile robot that can take abstract goals into consideration. Through the use of fuzzy logic, reactive behavior (e.g., avoiding obstacles on the way) and goal-oriented behavior (e.g., trying to reach a given location) are smoothly blended into one sequence of control actions. The fuzzy controller has been implemented on the SRI robot Flakey.
Citation
A. Saffiotti, E.H. Ruspini, and K. Konolige. Blending reactivity and goal-directedness in a fuzzy controller. Proc. of the 2nd IEEE Intl. Conf. on Fuzzy Systems, pp. 134-139. San Francisco, CA, 1993.
BibTeX entry
Contact
Email Alessandro Saffiotti
Email Enrique H. Ruspini
Email Kurt Konolige
Availability (©)
PDF PDF file (177 Kb)
PS PostScript file (223 Kb)
 
Page hosted by  AASS Designed and maintained by Alessandro Saffiotti