TY - GEN
T1 - Artificial behavioral system by sensor-motor mapping strategy for multi-objective robot tasks
AU - Daǧlarli, Evren
AU - Temeltaş, Hakan
PY - 2007
Y1 - 2007
N2 - In this study, behavioral system based robot control architecture is built up for a four-wheel driven and four-wheel steered mobile robot. Behavioral system is determined as evolutionary neural-fuzzy inference system for behavior generation and self-learning processes in the general robot control architecture. The kinematics and dynamic model of the mobile robot with non-holonomic constraints is used as present structure which is modeled in previous studies. The posture and speed of the robot and the configurations, speeds and torques of the wheels can be observed from the simulation plant and virtual reality viewer. The behaviors are investigated regarding their gains, fuzzy inference structures, real-time applicability and their coordination.
AB - In this study, behavioral system based robot control architecture is built up for a four-wheel driven and four-wheel steered mobile robot. Behavioral system is determined as evolutionary neural-fuzzy inference system for behavior generation and self-learning processes in the general robot control architecture. The kinematics and dynamic model of the mobile robot with non-holonomic constraints is used as present structure which is modeled in previous studies. The posture and speed of the robot and the configurations, speeds and torques of the wheels can be observed from the simulation plant and virtual reality viewer. The behaviors are investigated regarding their gains, fuzzy inference structures, real-time applicability and their coordination.
KW - Autonomous robotics
KW - Diploid genetic programming
KW - Relational fuzzy logic
KW - Robot behavior
KW - SOM neural networks
UR - http://www.scopus.com/inward/record.url?scp=38049093427&partnerID=8YFLogxK
U2 - 10.1109/ICNC.2007.268
DO - 10.1109/ICNC.2007.268
M3 - Conference contribution
AN - SCOPUS:38049093427
SN - 0769528759
SN - 9780769528755
T3 - Proceedings - Third International Conference on Natural Computation, ICNC 2007
SP - 139
EP - 143
BT - Proceedings - Third International Conference on Natural Computation, ICNC 2007
T2 - 3rd International Conference on Natural Computation, ICNC 2007
Y2 - 24 August 2007 through 27 August 2007
ER -