【摘 要】
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Behaviour-based approach plays a key role for mobile robots to operate safely in unknown or dynamically changing environments. We have developed a hybrid contro
【出 处】
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International Journal of Automation and Computing
论文部分内容阅读
Behaviour-based approach plays a key role for mobile robots to operate safely in unknown or dynamically changing environments. We have developed a hybrid control architecture for our autonomous robotic fish that consists of three layers: cognitive, behaviour and swim pattern. In this paper, we describe some main design issues of the behaviour layer, which is the centre of the layered control architecture of our robotic fish. Fuzzy logic control (FLC) is adopted here to design individual behaviours. Simulation and real experiments are presented to show the feasibility and the performance of the designed behaviour layer.
Behaviour-based approach plays a key role for mobile robots to operate safely in unknown or dynamically changing environments. We have developed a hybrid control architecture for our autonomous robotic fish that consists of three layers: cognitive, behavior and swim pattern. In this paper, we describe some main design issues of the behavior layer, which is the center of the layered control architecture of our robotic fish. Fuzzy logic control (FLC) is adopted here to design individual behaviors. Simulation and realizations are presented to the feasibility and the performance of the designed behavior layer.
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