Autonomous mobile robot based on behavior decision skill and control skill of the operator

This paper introduces a human skill base control algorithm using artificial neural networks and fuzzy reasoning for an autonomous mobile robot. Neural networks are used to select a suitable motion control pattern in actual environments. The back propagation algorithm adjusts the weights of the neura...

Full description

Saved in:
Bibliographic Details
Published in:Electrical engineering in Japan 2000-04, Vol.131 (2), p.30-39
Main Authors: Yasuno, Takashi, Kamano, Takuya, Suzuki, Takayuki, Uemura, Kazuo, Harada, Hironobu, Kataoka, Yu
Format: Article
Language:English
Subjects:
autonomous mobile robot
fuzzy reasoning
neural networks
operator's skills
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by
cites cdi_FETCH-LOGICAL-c4584-ccace4db97d77cf4ffac530d4745d678546d6bd5f74d92c0c46009c6df6673123
container_end_page 39
container_issue 2
container_start_page 30
container_title Electrical engineering in Japan
container_volume 131
creator Yasuno, Takashi
Kamano, Takuya
Suzuki, Takayuki
Uemura, Kazuo
Harada, Hironobu
Kataoka, Yu
description This paper introduces a human skill base control algorithm using artificial neural networks and fuzzy reasoning for an autonomous mobile robot. Neural networks are used to select a suitable motion control pattern in actual environments. The back propagation algorithm adjusts the weights of the neural networks so that the selected motion control pattern corresponds to the action, which is obtained by the operator's behavior decision skill. To realize the selected motion control pattern, the orientation angle and the speed of the mobile robot are determined by fuzzy reasoning in which fuzzy rules are also automatically tuned so as to simulate the operator's control skill. We have implemented and tested the proposed control algorithm on an autonomous mobile robot and some experimental results demonstrate the effectiveness of the proposed control algorithm for the autonomous mobile robot. © 2000 Scripta Technica, Electr Eng Jpn, 131(2): 30–39, 2000
doi_str_mv 10.1002/(SICI)1520-6416(20000430)131:2<30::AID-EEJ4>3.0.CO;2-4
format article
fullrecord <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_27782784</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>27782784</sourcerecordid><originalsourceid>FETCH-LOGICAL-c4584-ccace4db97d77cf4ffac530d4745d678546d6bd5f74d92c0c46009c6df6673123</originalsourceid><addsrcrecordid>eNqFkE1vEzEQhi1EJULLf_AJtYcN_lp7E1ClaAltqogcAkTqZeS1verSzTq1N0D_fb1NqZBAwpfxvJp5pHkQOqdkTAlh707Xi3JxRnNGMimoPGUkPcHJGeV0yj5wMp3OFh-z-fxKnPMxGZer9ywTL9DoeeUlGhHBRKaUJK_Q6xi_J4Kiqhih69m-953f-n3EW181rcPBV77HlY7OYt_hyt3oH40P2DrTxCYl8bZpW6w7i43v-uDbp8TXuL9x2O9c0L0PJ-io1m10b57qMfr6af6lvMyWq4tFOVtmRuSFyIzRxglbTZRVytSirrXJObFCidxKVeRCWlnZvFbCTpghRkhCJkbaWkrFKePH6O2Buwv-bu9iD9smGte2unPpLGBKFUwVIg1-Owya4GMMroZdaLY63AMlMKgGGFTD4A0Gb_BbNSTVwCB9IKmGQTVwIFCuUvoH-Gfyd_8X9b_QfzAf-wTODuAm9u7XM1iHW0i3qxw2ny9gvck316JYw5I_ADtroNE</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>27782784</pqid></control><display><type>article</type><title>Autonomous mobile robot based on behavior decision skill and control skill of the operator</title><source>Wiley</source><creator>Yasuno, Takashi ; Kamano, Takuya ; Suzuki, Takayuki ; Uemura, Kazuo ; Harada, Hironobu ; Kataoka, Yu</creator><creatorcontrib>Yasuno, Takashi ; Kamano, Takuya ; Suzuki, Takayuki ; Uemura, Kazuo ; Harada, Hironobu ; Kataoka, Yu</creatorcontrib><description>This paper introduces a human skill base control algorithm using artificial neural networks and fuzzy reasoning for an autonomous mobile robot. Neural networks are used to select a suitable motion control pattern in actual environments. The back propagation algorithm adjusts the weights of the neural networks so that the selected motion control pattern corresponds to the action, which is obtained by the operator's behavior decision skill. To realize the selected motion control pattern, the orientation angle and the speed of the mobile robot are determined by fuzzy reasoning in which fuzzy rules are also automatically tuned so as to simulate the operator's control skill. We have implemented and tested the proposed control algorithm on an autonomous mobile robot and some experimental results demonstrate the effectiveness of the proposed control algorithm for the autonomous mobile robot. © 2000 Scripta Technica, Electr Eng Jpn, 131(2): 30–39, 2000</description><identifier>ISSN: 0424-7760</identifier><identifier>EISSN: 1520-6416</identifier><identifier>DOI: 10.1002/(SICI)1520-6416(20000430)131:2&lt;30::AID-EEJ4&gt;3.0.CO;2-4</identifier><language>eng</language><publisher>New York: John Wiley &amp; Sons, Inc</publisher><subject>autonomous mobile robot ; fuzzy reasoning ; neural networks ; operator's skills</subject><ispartof>Electrical engineering in Japan, 2000-04, Vol.131 (2), p.30-39</ispartof><rights>Copyright © 2000 Scripta Technica</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c4584-ccace4db97d77cf4ffac530d4745d678546d6bd5f74d92c0c46009c6df6673123</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,27923,27924</link.rule.ids></links><search><creatorcontrib>Yasuno, Takashi</creatorcontrib><creatorcontrib>Kamano, Takuya</creatorcontrib><creatorcontrib>Suzuki, Takayuki</creatorcontrib><creatorcontrib>Uemura, Kazuo</creatorcontrib><creatorcontrib>Harada, Hironobu</creatorcontrib><creatorcontrib>Kataoka, Yu</creatorcontrib><title>Autonomous mobile robot based on behavior decision skill and control skill of the operator</title><title>Electrical engineering in Japan</title><addtitle>Elect. Eng. Jpn</addtitle><description>This paper introduces a human skill base control algorithm using artificial neural networks and fuzzy reasoning for an autonomous mobile robot. Neural networks are used to select a suitable motion control pattern in actual environments. The back propagation algorithm adjusts the weights of the neural networks so that the selected motion control pattern corresponds to the action, which is obtained by the operator's behavior decision skill. To realize the selected motion control pattern, the orientation angle and the speed of the mobile robot are determined by fuzzy reasoning in which fuzzy rules are also automatically tuned so as to simulate the operator's control skill. We have implemented and tested the proposed control algorithm on an autonomous mobile robot and some experimental results demonstrate the effectiveness of the proposed control algorithm for the autonomous mobile robot. © 2000 Scripta Technica, Electr Eng Jpn, 131(2): 30–39, 2000</description><subject>autonomous mobile robot</subject><subject>fuzzy reasoning</subject><subject>neural networks</subject><subject>operator's skills</subject><issn>0424-7760</issn><issn>1520-6416</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2000</creationdate><recordtype>article</recordtype><recordid>eNqFkE1vEzEQhi1EJULLf_AJtYcN_lp7E1ClaAltqogcAkTqZeS1verSzTq1N0D_fb1NqZBAwpfxvJp5pHkQOqdkTAlh707Xi3JxRnNGMimoPGUkPcHJGeV0yj5wMp3OFh-z-fxKnPMxGZer9ywTL9DoeeUlGhHBRKaUJK_Q6xi_J4Kiqhih69m-953f-n3EW181rcPBV77HlY7OYt_hyt3oH40P2DrTxCYl8bZpW6w7i43v-uDbp8TXuL9x2O9c0L0PJ-io1m10b57qMfr6af6lvMyWq4tFOVtmRuSFyIzRxglbTZRVytSirrXJObFCidxKVeRCWlnZvFbCTpghRkhCJkbaWkrFKePH6O2Buwv-bu9iD9smGte2unPpLGBKFUwVIg1-Owya4GMMroZdaLY63AMlMKgGGFTD4A0Gb_BbNSTVwCB9IKmGQTVwIFCuUvoH-Gfyd_8X9b_QfzAf-wTODuAm9u7XM1iHW0i3qxw2ny9gvck316JYw5I_ADtroNE</recordid><startdate>20000430</startdate><enddate>20000430</enddate><creator>Yasuno, Takashi</creator><creator>Kamano, Takuya</creator><creator>Suzuki, Takayuki</creator><creator>Uemura, Kazuo</creator><creator>Harada, Hironobu</creator><creator>Kataoka, Yu</creator><general>John Wiley &amp; Sons, Inc</general><scope>BSCLL</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>8FD</scope><scope>L7M</scope></search><sort><creationdate>20000430</creationdate><title>Autonomous mobile robot based on behavior decision skill and control skill of the operator</title><author>Yasuno, Takashi ; Kamano, Takuya ; Suzuki, Takayuki ; Uemura, Kazuo ; Harada, Hironobu ; Kataoka, Yu</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c4584-ccace4db97d77cf4ffac530d4745d678546d6bd5f74d92c0c46009c6df6673123</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2000</creationdate><topic>autonomous mobile robot</topic><topic>fuzzy reasoning</topic><topic>neural networks</topic><topic>operator's skills</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Yasuno, Takashi</creatorcontrib><creatorcontrib>Kamano, Takuya</creatorcontrib><creatorcontrib>Suzuki, Takayuki</creatorcontrib><creatorcontrib>Uemura, Kazuo</creatorcontrib><creatorcontrib>Harada, Hironobu</creatorcontrib><creatorcontrib>Kataoka, Yu</creatorcontrib><collection>Istex</collection><collection>CrossRef</collection><collection>Electronics &amp; Communications Abstracts</collection><collection>Technology Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>Electrical engineering in Japan</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Yasuno, Takashi</au><au>Kamano, Takuya</au><au>Suzuki, Takayuki</au><au>Uemura, Kazuo</au><au>Harada, Hironobu</au><au>Kataoka, Yu</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Autonomous mobile robot based on behavior decision skill and control skill of the operator</atitle><jtitle>Electrical engineering in Japan</jtitle><addtitle>Elect. Eng. Jpn</addtitle><date>2000-04-30</date><risdate>2000</risdate><volume>131</volume><issue>2</issue><spage>30</spage><epage>39</epage><pages>30-39</pages><issn>0424-7760</issn><eissn>1520-6416</eissn><abstract>This paper introduces a human skill base control algorithm using artificial neural networks and fuzzy reasoning for an autonomous mobile robot. Neural networks are used to select a suitable motion control pattern in actual environments. The back propagation algorithm adjusts the weights of the neural networks so that the selected motion control pattern corresponds to the action, which is obtained by the operator's behavior decision skill. To realize the selected motion control pattern, the orientation angle and the speed of the mobile robot are determined by fuzzy reasoning in which fuzzy rules are also automatically tuned so as to simulate the operator's control skill. We have implemented and tested the proposed control algorithm on an autonomous mobile robot and some experimental results demonstrate the effectiveness of the proposed control algorithm for the autonomous mobile robot. © 2000 Scripta Technica, Electr Eng Jpn, 131(2): 30–39, 2000</abstract><cop>New York</cop><pub>John Wiley &amp; Sons, Inc</pub><doi>10.1002/(SICI)1520-6416(20000430)131:2&lt;30::AID-EEJ4&gt;3.0.CO;2-4</doi><tpages>10</tpages><oa>free_for_read</oa></addata></record>
fulltext fulltext
identifier ISSN: 0424-7760
ispartof Electrical engineering in Japan, 2000-04, Vol.131 (2), p.30-39
issn 0424-7760
1520-6416
language eng
recordid cdi_proquest_miscellaneous_27782784
source Wiley
subjects autonomous mobile robot
fuzzy reasoning
neural networks
operator's skills
title Autonomous mobile robot based on behavior decision skill and control skill of the operator
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-11T15%3A27%3A52IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Autonomous%20mobile%20robot%20based%20on%20behavior%20decision%20skill%20and%20control%20skill%20of%20the%20operator&rft.jtitle=Electrical%20engineering%20in%20Japan&rft.au=Yasuno,%20Takashi&rft.date=2000-04-30&rft.volume=131&rft.issue=2&rft.spage=30&rft.epage=39&rft.pages=30-39&rft.issn=0424-7760&rft.eissn=1520-6416&rft_id=info:doi/10.1002/(SICI)1520-6416(20000430)131:2%3C30::AID-EEJ4%3E3.0.CO;2-4&rft_dat=%3Cproquest_cross%3E27782784%3C/proquest_cross%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c4584-ccace4db97d77cf4ffac530d4745d678546d6bd5f74d92c0c46009c6df6673123%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_pqid=27782784&rft_id=info:pmid/&rfr_iscdi=true