Abstract
In this paper a fuzzy behavior based decision control is presented. A behavior is described by one or more fuzzy controllers reacting to external stimulus, and a state variable (denoted behavior activity) measuring how evident are the conditions of application of the knowledge coded in the fuzzy controllers. The autonomous vehicle decision control is composed by several behaviors of this kind, each one feeding an arbitrator with the activity and action values. The arbitrator evaluates the final action to send to the actuators taking into consideration each behavior activity and action values. Two arbitration methods are proposed. Results of simulations are presented and conclusions are drawn.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Alessandro Saffiotti, Enrique H. Ruspini, and Kurt Konolige. Blending reactivity and goal-directedness in a fuzzy controller. In Proceedings of the Second IEEE International Conference on Fuzzy Systems, pages 134–139, San Francisco, CA, mar 1993.
E. Cerruto, A. Consoli, A. Raciti, and A. Testa. Adaptive fuzzy control of high performance motion systems. In Robert J. Marks II, editor, Fuzzy Logic Techno-logy and Applications, New York, 1992. IEEE.
Filipe Cardoso, Luís Custódio, and Carlos Pinto-Ferreira. Fuzzy logic steering controller for a guided vehicle. In Proceedings of the IEEE 7 th Mediterranean Electrotechnical Conference, MELECON’94, pages 711–714, Turkey, apr 1994.
Filipe Cardoso, Luís Custódio, and Carlos Pinto-Ferreira. Supervision of fuzzy controllers using genetic algorithms. In Proceedings of the 1998 IEEE International Conference on Fuzzy Systems, FUZZ’98, pages 1241–1246, Alaska, may 1998.
Hartmut Surmann, Jörg Huser, and Liliane Peters. A fuzzy system for indoor mobile robot navigation. In Proceedings of the IEEE International Conference on Fuzzy Systems, pages 83–86, Yokohama, Japan, 1995.
J. François Josserand, Gilles Mauris, Eric Benoit, and Laurent Foulloy. Fuzzy components network for distributed intelligent systems. In Proceedings of the International Symposium on Intelligent Robotic Systems’ 94, Grenoble, jul 1994.
Jörg Huser, Hartmut Surmann, and Liliane Peters. A fuzzy system for realtime navigation of mobile robots. In 19th Annual German Conference on Artificial Intelligence, KI-95, pages 170–172, Bielefeld, 1995.
Jos Nijhuis, Stefan Neußer, Jörgen Heller, and Jochen Spünnemann. Evaluation of fuzzy and neural vehicle control. In Robert J. Marks II, editor, Fuzzy Logic Technology and Applications, pages 50–55, New York, 1992. IEEE.
Kai-Tai Song and Jen-Chau Tai. Fuzzy navigation of a mobile robot. In Procee-dings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, Raleigh, NC, jul 1992.
Chuen Chien Lee. Fuzzy Logic in Control Systems: Fuzzy Logic Controller-Part I. IEEE Transactions On Systems, Man, and Cybernetics, 20(2):404–418, mar/apr 1990.
Chuen Chien Lee. Fuzzy Logic in Control Systems: Fuzzy Logic Controller-Part II. IEEE Transactions On Systems, Man, and Cybernetics, 20(2):419–435, mar/apr 1990.
Luís Correia and A. Steiger-Garção. A useful autonomous vehicle with a hierarchical behavior control. In ECAL’95 European Conference on Artificial Life, pages 625–639. Springer, 1995.
Pattie Maes. A bottom-up mechanism for behaviour selection in an artificial creature. In Jean-Arcady Meyer and Stewart Wilsom, editors, From Animals to Animats. MIT Press, 1991.
Pattie Maes. Behavior-based artificial intelligence. In Jean-Arcady Meyer, Herbert Roitblat, and Stewart Wilsom, editors, From Animals to Animats 2. MIT Press, 1993.
David McFarland. The biology of behavior-criteria for success in animals and robots. In Luc Steels, editor, The Biology and Technology of Intelligent Autono-mous Agents, volume 144 of NATO ASI Series, Series F: Computer and System Sciences. Springer, 1995.
Nobuhiko Yuasa, Mitsuo Shioya, and Gunji Kimura. Follow-up characteristics of a small automatic guided vehicle system with fuzzy control. In Robert J. Marks II, editor, Fuzzy Logic Technology and Applications, pages 56–61, New York, 1992. IEEE.
Alessandro Saffiotti. Some notes on the integration of planning and reactivity in autonomous mobile robots. In AAAI Spring Symposium on Foundations of Planning, pages 122–126, Stanford, CA, mar 1993.
Alessandro Saffiotti. Fuzzy logic in autonomous robot navigation: A case study. In http://iridia.ulb.ac.be/FLAR/HFC/home.html, aug 1997.
Seong-Gon Kong and Bart Kosko. Adaptive fuzzy systems for backing up a truck-and-trailer. IEEE Transactions on Neural Networks, 3(2), mar 1992.
P. J. B. Slater. An introduction to Ethology. Cambridge University Press, 1985.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Abreu, A., Correia, L. (1999). Fuzzy Behaviors and Behavior Arbitration in Autonomous Vehicles. In: Barahona, P., Alferes, J.J. (eds) Progress in Artificial Intelligence. EPIA 1999. Lecture Notes in Computer Science(), vol 1695. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48159-1_17
Download citation
DOI: https://doi.org/10.1007/3-540-48159-1_17
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-66548-9
Online ISBN: 978-3-540-48159-1
eBook Packages: Springer Book Archive