Abstract
This paper presents experimental results for robotic excavation based on fuzzy behaviors. An excavation goal is achieved through excavation tasks, each erf which is completed via sequences of behaviors that are carried out by primitive actions. Both tasks and behaviors are specified by finite state machines. Behavior selection is achieved through situation assessment and behavior arbitration. A method of terminating a behavior execution is proposed. Excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results indicate that the proposed formulation has led to a more efficient execution of excavation tasks than in a previous formulation.
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