Browsing by Author "Lin, Jean-Yuan"

Now showing 1 - 1 of 1

Behavior fusion of robot navigation using a Fuzzy neural network
(2006)
Song, Kai-Tal
;
Lin, Jean-Yuan
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper presents a design of behavior-fusion architecture for mobile robot navigation. We first design three behaviors for robot navigation, including obstacle avoidance, wall following, and goal seeking. We implement these primitive behaviors by using fuzzy-logic control approaches. Then, the fusion weight of each behavior is determined by using the proposed behavior-fusion neural network. The neural network maps the current environment sensor data to suitable fusion weights. Both computer simulation and practical experiments verify the effectiveness of the method.