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Agent-based control for fuzzy behavior programming in robotic excavation | |
Wang, FY | |
发表期刊 | IEEE TRANSACTIONS ON FUZZY SYSTEMS |
2004-08-01 | |
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 |
推荐引用方式 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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