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Agent-based control for fuzzy behavior programming in robotic excavation
Wang, FY
2004-08-01
发表期刊IEEE TRANSACTIONS ON FUZZY SYSTEMS
卷号12期号:4页码:540-548
文章类型Article
摘要This paper discusses the concept, formulation, and implementation of the agent-based control for fuzzy behavior programming in robotic excavation. Petri net transducers are introduced to describe excavation control agent coordination and specification, while fuzzy control rules are used to implement primitive motions. A prototype laboratory excavation system is built with PUMA robotic manipulators and a force/torque sensor. Extensive experiments have been conducted and the results have demonstrated that the proposed control method is capable of continuously adapting and replanning its actions based on sensory feedback, and completing its excavation tasks in dynamic and unstructured environments.
关键词Agent-based Control (Abc) Agent Coordination Behavior Programming Fuzzy Logic Petri Net Transducers Robotic Excavation
WOS标题词Science & Technology ; Technology
关键词[WOS]INTELLIGENT MACHINES ; INTEGRATION ; SYSTEM
收录类别SCI
语种英语
WOS研究方向Computer Science ; Engineering
WOS类目Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS记录号WOS:000223243500011
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9957
专题09年以前成果
通讯作者Wang, FY
作者单位1.Chinese Acad Sci, Inst Automat, LCSIS, Beijing 100080, Peoples R China
2.Univ Arizona, Dept Syst & Ind Engn, PARCS, Tucson, AZ 85721 USA
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Wang, FY. Agent-based control for fuzzy behavior programming in robotic excavation[J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS,2004,12(4):540-548.
APA Wang, FY.(2004).Agent-based control for fuzzy behavior programming in robotic excavation.IEEE TRANSACTIONS ON FUZZY SYSTEMS,12(4),540-548.
MLA Wang, FY."Agent-based control for fuzzy behavior programming in robotic excavation".IEEE TRANSACTIONS ON FUZZY SYSTEMS 12.4(2004):540-548.
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