NDLI: Multi-layered fuzzy behavior fusion for real-time control of systems with many sensors

Content Provider	IEEE Xplore Digital Library
Author	Goodridge, S.G. Luo, R.C. Kay, M.G.
Copyright Year	1994
Description	Author affiliation: Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA (Goodridge, S.G.; Luo, R.C.; Kay, M.G.)
Abstract	A modular architecture for real-time fuzzy mapping of sensors to control signals is presented. The function is broken down into multiple agents, each of which samples a subset of a large sensor input space. Additional fuzzy agents are employed to fuse the recommendations of the local agents. Real-time implementation without special hardware is possible by using singleton output values during fuzzy rule evaluation. A linguistic syntax for fuzzy systems development is presented, allowing complex nonlinear control functions to be defined using qualitative expressions rather than mathematical terms. Our development tool, PCFUZ, translates this syntax off-line into a data structure for fast execution at run time. Using this system, a fuzzy behavior-based reactive control system has been implemented on an autonomous mobile robot, MARGE, with great success.
Starting Page	272
Ending Page	279
File Size	766653
Page Count	8
File Format	PDF
ISBN	0780320727
DOI	10.1109/MFI.1994.398443
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-10-02
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Fuzzy systems Real time systems Control systems Sensor fusion Sensor systems Intelligent sensors Mobile robots Robot sensing systems Intelligent robots
Content Type	Text
Resource Type	Article

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