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Modified Fuzzy Behavior Coordination for Autonomous Mobile Robot Navigation System
Handy Wicaksono,Prihastono,Khairul Anam,Rusdhianto Effendi,Indra Adji S.,Son Kuswadi,Achmad Jazidie,Mitsuji Sampei 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In behavior based robotics, development of behavior coordination method is very important. Fuzzy BehaviorCoordination (FBC) can be used here, but it still have weaknesses, because it can result in slow robot movement, toolong time to reach the target and fail to avoid trap. In this paper, modification of FBC, by combining it withSubsumption Architecture, is proposed to overcome those weaknesses. The simulation result shows that MFBC give the faster robot movement and decrease the amount of time to reach the target.
Khairul Anam,Prihastono,Handy Wicaksono,Rusdhianto Effendi,Indra Adji S,Son Kuswadi,Achmad Jazidie,Mitsuji Sampei 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes hybridization of fuzzy Q-learning and behavior-based control for autonomous mobile robot navigation problem in cluttered environment with unknown target position. The fuzzy Q-learning is incorporated in behavior-based control structure and it is considered as generation of primitive behavior like obstacle avoidance and target searching. The simulation result demonstrates that the hybridization enables robot to be able to learn the right policy, to avoid obstacle and to find the target. Real implementation of this hybridization shows that the robot was able to learn the right policy i.e. to avoid obstacle.
The Mobility Performances of New Wheeled and Legged Hybrid Mechanisms System Roboti SRo
Son Kuswadi,Indra Adji Sulistijono,Rachman Ardyansyah,Ahmad Zulkarnain,Tiyo Avianto,Ilmi Rizki Imaduddin,Achmad Luthfi,Moh. Saifulloh,Achmad Jazidie,Mitsuji Sampei 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In rescue robot competition field, a robot needs to operatein various dynamic environments where they encounter amultitude of unknown both static and /or moving obstacles and targets. Hence, the robot should have high mobility performance to cope with this situation. Here, we propose a new robot hybrid mechanism that consists of wheeled and legged actuators. Based upon the designed mechanism, we derive 10 primitive motions. It is apparent that with this large number of primitive motions, the robot could achieve high mobility performances. We show such high performance by simulation and experiment.