A CONTROL SYSTEM USING BEHAVIOUR HIERARCHIES AND NEURO-FUZZY APPROACH

Dilek Arslan, Ferda N Alpaslan

Abstract

In agent-based systems, especially in autonomous mobile robots, modelling the environment and its changes is a source of problems. It is not always possible to effectively model the uncertainty and the dynamic changes in complex, real-world domains. Control systems must be robust to changes and must be able to handle the uncertainties to overcome this problem. In this study, a reactive behaviour based agent control system is modelled and implemented. The control system is tested in a navigation task using an environment, which has randomly placed obstacles and a goal position to simulate an environment similar to an autonomous robot’s indoor environment. Then the control system was extended to control an agent in a multi-agent environment. The main motivation of this study is to design a control system, which is robust to errors and is easy to modify. Behaviour based approach with the advantages of fuzzy reasoning systems is used in the system.

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Paper Citation


in Harvard Style

Arslan D. and N Alpaslan F. (2005). A CONTROL SYSTEM USING BEHAVIOUR HIERARCHIES AND NEURO-FUZZY APPROACH . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-29-5, pages 222-229. DOI: 10.5220/0001158802220229


in Bibtex Style

@conference{icinco05,
author={Dilek Arslan and Ferda N Alpaslan},
title={A CONTROL SYSTEM USING BEHAVIOUR HIERARCHIES AND NEURO-FUZZY APPROACH},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2005},
pages={222-229},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001158802220229},
isbn={972-8865-29-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A CONTROL SYSTEM USING BEHAVIOUR HIERARCHIES AND NEURO-FUZZY APPROACH
SN - 972-8865-29-5
AU - Arslan D.
AU - N Alpaslan F.
PY - 2005
SP - 222
EP - 229
DO - 10.5220/0001158802220229