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1 November 1992 Application of fuzzy logic in robot control
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Proceedings Volume 1826, Intelligent Robots and Computer Vision XI: Biological, Neural Net, and 3D Methods; (1992)
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
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.
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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);

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