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Agent-based control for fuzzy behavior programming in robotic excavation
Wang, FY
Source PublicationIEEE TRANSACTIONS ON FUZZY SYSTEMS
2004-08-01
Volume12Issue:4Pages:540-548
SubtypeArticle
AbstractThis 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.
KeywordAgent-based Control (Abc) Agent Coordination Behavior Programming Fuzzy Logic Petri Net Transducers Robotic Excavation
WOS HeadingsScience & Technology ; Technology
WOS KeywordINTELLIGENT MACHINES ; INTEGRATION ; SYSTEM
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS IDWOS:000223243500011
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9957
Collection09年以前成果
Corresponding AuthorWang, FY
Affiliation1.Chinese Acad Sci, Inst Automat, LCSIS, Beijing 100080, Peoples R China
2.Univ Arizona, Dept Syst & Ind Engn, PARCS, Tucson, AZ 85721 USA
Recommended Citation
GB/T 7714
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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