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Using hierarchical fuzzy behaviors in the RoboCup domain
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
Örebro University, Department of Technology. (Mobile Robotics Lab)
2003 (English)In: Autonomous robotic systems / [ed] Changjiu Zhou, Dario Maravall, Da Ruan, Janusz Kacprzyk, Heidelberg: Physica Verlag, 2003, Vol. 116, p. 235-262Chapter in book (Refereed)
Abstract [en]

An important reason for the popularity of the behavior-based paradigm in autonomous robotics is the possibility to design complex robot behaviors in an incremental way. We propose a fuzzy hierarchical behavior-based architecture, in which rules and meta-rules are used in a uniform way at all levels of the control hierarchy. This architecture has been successfully used in a number of robots performing autonomous navigation tasks. In this paper, we show the use of hierarchical fuzzy behaviors to implement a set of navigation and ball control behaviors for a Sony four-legged robot operating in the RoboCup domain. We also show that the logical structure of the rules and the hierarchical decomposition simplify the design of very complex behaviors, like the "GoalKeeper" behavior.

Place, publisher, year, edition, pages
Heidelberg: Physica Verlag, 2003. Vol. 116, p. 235-262
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3678ISBN: 3-7908-1546-2 (print)OAI: oai:DiVA.org:oru-3678DiVA, id: diva2:137976
Available from: 2007-07-29 Created: 2007-07-29 Last updated: 2018-01-13Bibliographically approved

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Saffiotti, AlessandroWasik, Zbigniew

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