Adding memory processing behaviors to the fuzzy behaviorist-based navigation of mobile robots

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Most fuzzy logic-based reasoning schemes developed for robot control are fully reactive, i.e., the reasoning modules consist of fuzzy rule bases that represent direct mappings from the stimuli provided by the perception systems to the responses implemented by the motion controllers. Due to their totally reactive nature, such reasoning systems can encounter problems such as infinite loops and limit cycles. In this paper, we proposed an approach to remedy these problems by adding a memory and memory-related behaviors to basic reactive systems. Three major types of memory behaviors are addressed: memory creation, memory management, and memory utilization. These are first ... continued below

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8 p.

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Pin, F.G. & Bender, S.R. May 1, 1996.

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Description

Most fuzzy logic-based reasoning schemes developed for robot control are fully reactive, i.e., the reasoning modules consist of fuzzy rule bases that represent direct mappings from the stimuli provided by the perception systems to the responses implemented by the motion controllers. Due to their totally reactive nature, such reasoning systems can encounter problems such as infinite loops and limit cycles. In this paper, we proposed an approach to remedy these problems by adding a memory and memory-related behaviors to basic reactive systems. Three major types of memory behaviors are addressed: memory creation, memory management, and memory utilization. These are first presented, and examples of their implementation for the recognition of limit cycles during the navigation of an autonomous robot in a priori unknown environments are then discussed.

Physical Description

8 p.

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OSTI as DE96008670

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  • ISRAM `96: 6. international symposium on robotics and manufacturing, Montpellier (France), 27-30 May 1996

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  • Other: DE96008670
  • Report No.: CONF-9605145--3
  • Grant Number: AC05-96OR22464
  • Office of Scientific & Technical Information Report Number: 230366
  • Archival Resource Key: ark:/67531/metadc670449

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  • May 1, 1996

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  • June 29, 2015, 9:42 p.m.

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  • Jan. 15, 2016, 12:37 p.m.

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Pin, F.G. & Bender, S.R. Adding memory processing behaviors to the fuzzy behaviorist-based navigation of mobile robots, article, May 1, 1996; Tennessee. (digital.library.unt.edu/ark:/67531/metadc670449/: accessed September 22, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.