Fuzzy behavior integration and action fusion for robotic excavation

IEEE Transactions on Industrial Electronics

Volumn 43, Issue 3, 1996, Pages 395-402

  Shi, Xiaobo ^a   Lever, Paul J A ^a   Wang, Fei Yue ^a  

^a UNIVERSITY OF ARIZONA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; EXCAVATION; FINITE AUTOMATA; FUZZY SETS; HIERARCHICAL SYSTEMS; ROBOTICS;

ACTION FUSION; DEFUZZIFICATION METHOD; FUZZY LOGIC REASONING; HIERARCHICAL EXCAVATION CONTROL; ROBOTIC EXCAVATION;

FUZZY CONTROL;

EID: 0030170431     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/41.499812     Document Type: Article

References (24)

1. T. V. Alekseeva, K. A. Artem'ev, A. A. Bromberg, R. l. Voitsekhouskii, and N. A. Ul'yanov, Machine for Earthmoving Work. New Delhi, India: Amerind Publishing, 1985.
2. L. E. Bernold, "Motion and path control for robotic excavation," J. Aerosp. Eng., vol. 6, no. 1, pp. 1-18, 1993.
3. D. M. Bullock, S. M. Apte, and 1. J. Oppenheim, "Force and geometry constraints in robotic excavation," in Engineering, Construction, and Operations in Space II - Proc. Space 90, vol. I, 1990, pp. 960-969.
4. C. S. Desai, H. V. Phan, and J. V. Perumpral, "Mechanics of three-dimensional soil structure interaction," J. Eng. Mech. Div., ASCE, vol. 108, no. 5, pp. 731-747, 1982.
5. S. G. Goodridge and R. C. Luo, "Fuzzy behavior fusion for reactive control of an autonomous mobile robot: MARGE," in IEEE Int. Conf. Robot., Automat., 1994, pp. 1622-1627.
6. J. Hara et al., "Fuzzy control of sake-moromi brewing process," Seibutsu-Kogaku Kaishi J. Soc. Fermentation, Bioeng., vol. 71, no. 1, pp. 15-21, 1993.
7. L. Kweon, Y. Kuna, M. Watanabe, and K. Onoguchi, "Behavior-based mobile robot using active sensor fusion," in IEEE Conf. Robot., Automat., 1992, pp. 1675-1682.
8. C. C. Lee, "Fuzzy logic in control systems: Fuzzy logic controller - Part I and II," IEEE Trans. Syst., Man, Cybem., vol. 20, no. 2, pp. 404-435, 1990.
9. P. J. A. Lever and F.-Y. Wang, "An intelligent excavator control system for a lunar mining system," ASCE J. Aerosp. Eng., vol. 8, no. 1, 1995.
10. P. J. A. Lever, F. Y. Wang, and D. Q. Chen, "A fuzzy control system for an automated mining excavator," in IEEE Int. Conf. Robot., Automat., 1994, vol. 4, pp. 3284-3289.
11. P. J. A. Lever, F. Y. Wang, and X. Shi, "An intelligent task control system for dynamic mining environments," in Soc. Mining Eng. Annu. Meeting, 1994, Preprint no. 94-189.
12. P. J. A. Lever, F. Y. Wang, X. Shi, and D. Chen, "A fuzzy-behavior-based approach for controlling mining excavator bucket/rock interaction," to be published in IEEE-IAS Annu. Meeting Tech. Conf. Rec., Denver, 1994.
13. _, "Autonomous robotic mining excavation using fuzzy logic and neural networks," J. Intell. & Fuzzy Syst., vol. 3, no. 1, pp. 31-42, 1995.
14. M. J. Malaric, "Distributed approaches to behavior control." in SPIE Symp. - Sensor Fusion V, vol. 1828, 1992, pp. 373-382.
15. S. Murakami, "Application of fuzzy controller to automobile speed control system," Fuzzy Information, Knowledge, Representation and Decision Analysis, E. Sanchez, Ed. Oxford, U.K.: Pergamon, 1984.
16. F. G. Pin and Y. Wantanabe, "Using fuzzy behaviors for the outdoor navigation of a car with low-resolution sensors," in IEEE Conf. Robot. Automat., 1993, pp. 548-553.
17. H. Romero-Lois, C. Hendrickson, and I. Oppenheim, "A strategic planner for robotic excavation," in Sixth Symp. Automat., Robotics in Construction, San Francisco, CA, 1989, pp. 553-560.
18. T. Sakai and T. Cho, "Operation system for hydraulic excavator for deep trench works," in 5th Int. Symp. Robot, in Construction, Japan, 1988, pp. 709-716.
19. D. G. Schwartz and G. J. Klir, "Fuzzy logic flowers in Japan," IEEE Spectrum, pp. 32-35, July 1992.
20. X. Shi, F.-Y. Wang, and P. J. A. Lever, "Experimental results of robotic excavation using fuzzy behavior control," to appear in IFAC Contr. Eng. Practice.
21. _, "Experimental robotic excavation with fuzzy logic and neural networks," in Proc. IEEE Int. Conf. Robot., Automat., 1996.
22. P. K. Vaha and M. J. Skibniewski, "Cognitive force control of excavators," J. Aerosp. Eng., vol. 6, no. 2, pp. 159-166, 1993.
23. F.-Y. Wang and P. J. A. Lever, "An intelligent robotic vehicle system for Lunar/Martian resource assessment," Recent Trends in Mobile Robots, Y. F. Zheng, Ed. New York: World Scientific Publishers, 1993, pp. 293-313.
24. L. A. Zadeh, "The concept of a linguistic variable and its application to approximate reasoning," Information Sciences, pt. 1, vol. 8, pp. 199-249, pt. 2, vol. 8, pp. 301-357, pt. 3, vol. 9, pp. 43-80, 1975.