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Fuzzy Behavior-Based Navigation for PlanetaryAdaptive behavioral capabilities are necessary for robust rover navigation in unstructured and partially-mapped environments. A control approach is described which exploits the approximate reasoning capability of fuzzy logic to produce adaptive motion behavior. In particular, a behavior-based architecture for hierarchical fuzzy control of microrovers is presented. Its structure is described, as well as mechanisms of control decision-making which give rise to adaptive behavior. Control decisions for local navigation result from a consensus of recommendations offered only by behaviors that are applicable to current situations. Simulation predicts the navigation performance on a microrover in simplified Mars-analog terrain.
Document ID
20010000484
Acquisition Source
Headquarters
Document Type
Conference Paper
Authors
Tunstel, Edward
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Danny, Harrison
(New Mexico Univ. Albuquerque, NM United States)
Lippincott, Tanya
(New Mexico Univ. Albuquerque, NM United States)
Jamshidi, Mo
(New Mexico Univ. Albuquerque, NM United States)
Date Acquired
August 20, 2013
Publication Date
February 1, 1997
Publication Information
Publication: NASA University Research Centers Technical Advances in Education, Aeronautics, Space, Autonomy, Earth and Environment
Volume: 1
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
URC97125
Funding Number(s)
OTHER: NCCW-87
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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