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Fuzzy Logic Techniques for Autonomous Vehicle Navigation : Studies in Fuzziness and Soft Computing - Dimiter Driankov

Fuzzy Logic Techniques for Autonomous Vehicle Navigation

Studies in Fuzziness and Soft Computing

By: Dimiter Driankov (Editor), Alessandro Saffiotti (Editor)

Hardcover Published: June 2009
ISBN: 9783790813418
Number Of Pages: 393

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The goal of autonomous mobile robotics is to build and control physical systems which can move purposefully and without human intervention in real-world environments which have not been specifically engineered for the robot. The development of techniques for autonomous mobile robot operation constitutes one of the major trends in the current research and practice in modern robotics. This volume presents a variety of fuzzy logic techniques which address the challenges posed by autonomous robot navigation. The focus is on four major problems: how to design robust behavior-producing control modules; how to use data from sensors for the purpose of environment modeling; and how to integrate high-level reasoning and low-level behavior execution. In this volume state-of-the-art fuzzy logic solutions are presented and their pros and cons are discussed in detail based on extensive experimentation on real mobile robots.

Tutorials
Fuzzy Logic in Autonomous Navigationp. 3
A Reminder on Fuzzy Logicp. 25
Design of Individual Behaviors
Mobile Robot Path Tracking and Visual Target Tracking Using Fuzzy Logicp. 51
Fuzzy Logic for Fusion of Tactical Influences on Vehicle Speed Controlp. 73
Neuro-Fuzzy Control for Basic Mobile Robot Behavioursp. 97
The Role of Fuzzy Logic Control in Evolutionary Roboticsp. 119
Coordination of Behaviors
ReSolving Conflicts Between Behaviors Using Suppression and Inhibitionp. 151
Multi-Layered Fuzzy Behavior Fusion for Reactive Control of Autonomous Robotsp. 179
Fuzzy-Behavior Synthesis, Coordination, and Evolution in an Adaptive Behavior Hierarchyp. 205
Multiple Objective vs. Fuzzy Behavior Coordinationp. 235
Mapping the Environment
Accurate Map Building via Fusion of Laser and Ultrasonic Range Measuresp. 257
Map Generation by Co-operative Autonomous Robots Using Possibility Theoryp. 281
Integrating Linguistic Descriptions and Sensor Observations for the Navigation of Autonomous Robotsp. 313
Layer Integration
MORIA: A Robot with Fuzzy Controlled Behaviourp. 343
Integrating Deliberative and Reactive Strategies via Fuzzy Modular Controlp. 367
List of Contributorsp. 389
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9783790813418
ISBN-10: 3790813419
Series: Studies in Fuzziness and Soft Computing
Audience: Professional
Format: Hardcover
Language: English
Number Of Pages: 393
Published: June 2009
Publisher: Springer-Verlag Berlin and Heidelberg Gmbh & Co. Kg
Country of Publication: DE
Dimensions (cm): 23.5 x 15.88  x 2.54
Weight (kg): 0.7