Human-inspired similarity control system: Enhancing line-following robot perception

Abstract

Human-Inspired Control (HIC) holds promise for endowing machines with human-like cognition, decision-making, and adaptability. In this study, we employ a fusion of cognitive modeling, machine learning, and control theory as the foundational architecture and empirically validate its suitability for robot control within the realm of HIC. Fuzzy logic stands out as a viable approach for HIC control, wherein control rules can be devised drawing from human intuitive inspiration. Specifically, this study explores similarity inference control systems in robotics, with the objective of enhancing line-following control as an alternative to fuzzy systems. The experimental optimization results provide insights into the advantages and limitations of the similarity inference control system. Despite achieving performance comparable to that of traditional two-stage fuzzy control systems, careful consideration of noise sensitivity is paramount. While the similarity inference approach streamlines implementation and obviates the necessity for expert-designed fuzzy rules, its susceptibility to noise can compromise performance, particularly in noisy environments. These considerations are pivotal for the development of control systems aimed at mitigating noise sensitivity, enhancing task-specific performance, and ensuring the adaptability and robustness of line-following robots. To tackle this challenge, we both discuss and experimentally evaluate potential solutions and their applicability in this paper.