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Control Architecture for Autonomous Mobile Robots: Linguistic Description of Navigation and Specific Maneuvering Tasks
Published October 31, 1994 by ISATA - Dusseldorf Trade Fair in United Kingdom
Event: ISATA 1994
A Hierarchical Control Architecture has been designed to deal with natural language mission assignment from human being to mobile robots. Within this general frame, present work describes the Navigation and Piloting levels as sets of Fuzzy Knowledge-based Control Systems/Fuzzy Behaviors that reproduce human driving strategies.
In spite of the uncertainty inherent to a partially known industrial environment, a flexible and reliable navigation linguistically described through a set of Behaviors and External References, has been demonstrated. As experimental results, one of two ESPRIT-II-2043 Project testbeds is fully described from human mission assignment to the local trajectories generation in the mobile robot Robuter (IAI-CSIC).