An expert fuzzy cognitive map for reactive navigation of mobile robots

摘要

A control technique is described for reactive navigation of mobile robots. The problems of large number of rules, and inefficient definition of contributing factors, e.g., robot wheel slippage, are resolved. Causal inference mechanism of the fuzzy cognitive map (FCM) is hired for deriving the required control values from the FCM's motion concepts and their causal interactions. The FCM-based control is proven to be advantageous over rule-based techniques. The developed system is utilized to control a Pioneer platform. The results and comparisons with the related works are given using ActivMedia simulation and a developed FCM simulation tool. An error estimation technique is used to measure the error between the actual and the simulation results.