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Robot controller architecture: Layer...

University of Arkansas at Little Rock., Applied Science.

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Robot controller architecture: Layered mode selection logic with Fuzzy Sensor Fusion Network.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Robot controller architecture: Layered mode selection logic with Fuzzy Sensor Fusion Network./
作者:	Born, Traig E. B.
面頁冊數:	150 p.
附註:	Adviser: Andrew B. Wright.
Contained By:	Masters Abstracts International46-06.
標題:	Computer Science. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1453495
ISBN:	9780549561859

Robot controller architecture: Layered mode selection logic with Fuzzy Sensor Fusion Network.
Born, Traig E. B.

Robot controller architecture: Layered mode selection logic with Fuzzy Sensor Fusion Network. - 150 p.

Adviser: Andrew B. Wright.

Thesis (M.S.)--University of Arkansas at Little Rock, 2008.

A behavior based robot controller was implemented using Layered Mode Selection Logic as a behavior coordination mechanism and a Fuzzy Sensor Fusion Network to provide perception. A series of collision experiments were conducted to create a Fuzzy Sensor Fusion Network capable of detecting collisions using acceleration readings from wheel encoders. An obstacle avoidance behavior was created, and it was demonstrated that the robot could be constrained by movable obstacles. The avoidance behavior was modified to create an obstacle manipulation behavior. This behavior allowed the robot to escape when enclosed by movable obstacles. The fuzzy sensor fusion network was enhanced to allow for the identification of heavy obstacles by adding a force sensor. Fault tolerance was demonstrated by faulting either the force sensor or the acceleration sensor and observing that the system retained its collision detection capabilities. The system was shown to be scalable toward task complexity and robot complexity.

ISBN: 9780549561859Subjects--Topical Terms:

626642
Computer Science.

Robot controller architecture: Layered mode selection logic with Fuzzy Sensor Fusion Network.
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520 $a A behavior based robot controller was implemented using Layered Mode Selection Logic as a behavior coordination mechanism and a Fuzzy Sensor Fusion Network to provide perception. A series of collision experiments were conducted to create a Fuzzy Sensor Fusion Network capable of detecting collisions using acceleration readings from wheel encoders. An obstacle avoidance behavior was created, and it was demonstrated that the robot could be constrained by movable obstacles. The avoidance behavior was modified to create an obstacle manipulation behavior. This behavior allowed the robot to escape when enclosed by movable obstacles. The fuzzy sensor fusion network was enhanced to allow for the identification of heavy obstacles by adding a force sensor. Fault tolerance was demonstrated by faulting either the force sensor or the acceleration sensor and observing that the system retained its collision detection capabilities. The system was shown to be scalable toward task complexity and robot complexity.
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