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Content Provider | IEEE Xplore Digital Library |
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Author | Tse Min Chen Luo, R.C. |
Copyright Year | 2000 |
Description | Author affiliation: Intelligent Autom. Lab., Nat. Chung Cheng Univ., Chia-Yi, Taiwan (Tse Min Chen) |
Abstract | This paper presents a hierarchical grey-fuzzy motion decision-making (HGFMD) algorithm, which is capable of integrating multiple sequential data for decision making and for the design of the control kernel of the target tracking system. The algorithm combines multiple grey prediction modules, each of them can online estimate the suitable model from sequential sensory information to approximate the observed dynamic system model for future-trend prediction, and for decision making through a multilayered fuzzy logic inference engine. We designed the HGFMD controller for target tracking system and implemented in our autonomous mobile robot. The HGFMD is compared with the conventional fuzzy logic controller, multilayered fuzzy controller, and the original grey-fuzzy controller we have developed previously in various target-tracking experiments. The results obtained show the high reliability of the HGFMD controller and tracking system. |
Starting Page | 2118 |
Ending Page | 2123 |
File Size | 592997 |
Page Count | 6 |
File Format | |
ISBN | 0780358864 |
ISSN | 10504729 |
DOI | 10.1109/ROBOT.2000.846342 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2000-04-24 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Target tracking Decision making Control systems Fuzzy logic Predictive models Algorithm design and analysis Motion control Kernel Inference algorithms Engines |
Content Type | Text |
Resource Type | Article |
Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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