A CONTROL SYSTEM USING BEHAVIOUR HIERARCHIES AND NEURO-FUZZY APPROACH

Dilek Arslan, Ferda N Alpaslan

2005

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.

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