Searching for just a few words should be enough to get started. If you need to make more complex queries, use the tips below to guide you.
Article type: Research Article
Authors: Pin, François G. | Watanabe, Yutaka
Affiliations: Center for Engineering Systems, Advanced Research, Oak Ridge National Laboratory Oak Ridge, TN 37831-6364
Abstract: Because outdoor environments are typically dynamic and not fully predictable, real-time vehicle control in such environments requires many calculational and reasoning schemes to operate on the basis of incomplete, unreliable, and/or imprecise information. For such systems, in which all the uncertainties cannot be engineered away, approximate reasoning may provide an alternative to the complexity and computational requirements of conventional uncertainty analysis and propagation techniques. Two types of computer boards including custom-designed VLSI fuzzy inferencing chips have been developed to add an approximate reasoning capability to real-time control systems. All inferencing rules on a chip are processed in parallel, allowing execution of the entire rule base in about 30 μs (i.e., at rates much faster than typical sensor sampling rates) and therefore making control of “reflex-type” motions envisionable. The use of these boards and a proposed approach using superposition of sensor-based fuzzy behaviors for the development of qualitative reasoning schemes are first discussed. We then describe how a fuzzy behavior-based navigation scheme emulating human-like navigation in a priori unknown environments was implemented on one of the fuzzy inferencing boards and installed on a test-bed platform to investigate two control modes for driving a car on the basis of sparse and imprecise sensor data. In the first mode, the car navigates fully autonomously, while in the second mode the system acts as a driver's aid, providing the driver with linguistic-type (fuzzy) commands to turn left or right and speed up, slow down, or back up depending upon the obstacles perceived by the sensors. Experiments with both modes of control are described in which the system uses only three acoustic-range (sonar) sensor channels to perceive the environment. Simulation results as well as indoor and outdoor experiments are presented and discussed to illustrate the feasibility and robustness of the proposed approach for sensor-based functions such as autonomous navigation and/or safety-enhancing driver's aid.
DOI: 10.3233/IFS-1993-1201
Journal: Journal of Intelligent and Fuzzy Systems, vol. 1, no. 2, pp. 95-107, 1993
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
USA
Tel: +1 703 830 6300
Fax: +1 703 830 2300
sales@iospress.com
For editorial issues, like the status of your submitted paper or proposals, write to editorial@iospress.nl
IOS Press
Nieuwe Hemweg 6B
1013 BG Amsterdam
The Netherlands
Tel: +31 20 688 3355
Fax: +31 20 687 0091
info@iospress.nl
For editorial issues, permissions, book requests, submissions and proceedings, contact the Amsterdam office info@iospress.nl
Inspirees International (China Office)
Ciyunsi Beili 207(CapitaLand), Bld 1, 7-901
100025, Beijing
China
Free service line: 400 661 8717
Fax: +86 10 8446 7947
china@iospress.cn
For editorial issues, like the status of your submitted paper or proposals, write to editorial@iospress.nl
如果您在出版方面需要帮助或有任何建, 件至: editorial@iospress.nl