- author = "Edward W. Tunstel",
- title = "Adaptive Hierarchy of Distributed Fuzzy Control: Application to Behavior Control of Rovers",
- school = "Electrical and Computer Engineering, University of New Mexico",
- year = "1996",
- address = "Albuquerque, New Mexico, NM 87131, USA",
- month = dec,
- keywords = "genetic algorithms, genetic programming, robot",
-
URL = "
http://www.cs.ucl.ac.uk/staff/W.Langdon/ftp/papers/TunstelPhD.pdf",
-
URL = "
http://www.cs.ucl.ac.uk/staff/W.Langdon/ftp/papers/TunstelPhD.ps.gz",
- size = "134+17 pages",
-
abstract = "This dissertation addresses the synthesis of
knowledge-based controllers for complex autonomous
systems that interact with the real world. A fuzzy
logic rule-based architecture is developed for
intelligent control of dynamic systems possessing a
significant degree of autonomy. It represents a novel
approach to controller synthesis which incorporates
fuzzy control theory into the framework of
behavior-based control. The controller intelligence is
distributed amongst a number of individual fuzzy logic
controllers and systems arranged in a hierarchical
structure such that system behaviour at any given level
is a function of behaviour at the level(s) below. This
structure addresses the combinatorial problem
associated with large rule-base cardinality, as the
totality of rules in the system are not processed
during any control cycle. A method of computationally
evolving fuzzy rule-bases is also introduced. It is
based on the genetic programming paradigm of
evolutionary computation and directly manipulates
linguistic terminology of the system. This provides a
systematic rule-base design method which is more direct
than current approaches that mandate numerical
encoding/decoding of rule representations. Finally, a
mechanism for multi-rule base coordination is devised
by generalisation of fuzzy logic theoretic concepts. It
is incorporated to endow the system with the capability
to dynamically adapt its control policy in response to
goals, internal system state, and perception of the
environment.
The validity and practical utility of the approach is verified by application to autonomous navigation control of wheeled mobile robots, or rovers. Simulated and experimental navigation results produced by the adaptive hierarchy of distributed fuzzy control are reported. Results show that the proposed ideas can be useful for realisation of autonomous rovers that are meant to be deployed in dynamic and possibly unstructured environments. This class of computer-controlled, wheeled mobile vehicles includes industrial mobile robots, automated guided vehicles, office or hospital robots, and in some cases natural terrain vehicles such as planetary rovers.
The proposed intelligent control architecture is generally applicable to autonomous systems whose overall behaviour can be decomposed into a bottom-up hierarchy of increased behavioural complexity, or a decentralised structure of multiple rule-bases.",
-
notes = "OCLC Number: 37306598.
ProQuest Dissertations Publishing, 1996. 9709808
Author: Edward W. {Tunstel, Jr.} Adviser Mohammad Jamshidi",
