Application of fuzzy logic in robot control

Seppo Kemppainen; Juha Roening

doi:10.1117/12.131614

1 November 1992 Application of fuzzy logic in robot control

Seppo Kemppainen, Juha Roening

Proceedings Volume 1826, Intelligent Robots and Computer Vision XI: Biological, Neural Net, and 3D Methods; (1992) https://doi.org/10.1117/12.131614
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

During the past several years, fuzzy control has emerged as a suitable control strategy for many complex and nonlinear control problems. The control provided by fuzzy logic is both smooth and accurate. Also the 'if-then' rules of fuzzy control systems are easy to understand and relatively easy to develop. This paper presents a toolkit which is used in the implementation of fuzzy control system. The toolkit consists of C++ class library which computes inferences in fuzzy logic. The toolkit is used to implement a fuzzy control system which controls the movement of a simulated mobile robot. The proposed architecture consists of several rulesets. Each ruleset specializes in some control task, for example, there are rulesets for going around an obstacle, avoiding a moving obstacle, going through a door, etc. The multiple ruleset fuzzy control system is used to guide the simulated mobile robot to a given goal in an unknown environment. With the proposed multiple ruleset architecture complex control problems can be solved while single rulesets remain simple and efficient.

Citation Download Citation

Seppo Kemppainen and Juha Roening "Application of fuzzy logic in robot control", Proc. SPIE 1826, Intelligent Robots and Computer Vision XI: Biological, Neural Net, and 3D Methods, (1 November 1992); https://doi.org/10.1117/12.131614

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available