Two-Stage Fuzzy Logic-Based Controller for Mobile Robot Navigation
Why this work is in the frame
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Bibliographic record
Abstract
A two-stage fuzzy inference system for a sonar sensor-based mobile robot is presented. The motion of the robot has been simulated as well as experimentally tested. Target seeking, obstacle avoidance, and emergency behaviors have been defined in a hierarchical fashion. The first stage of the fuzzy control system outputs an angular velocity based on the robot's five sonar sensor readings. The angular velocity and a measure of average object proximity, or freespace, is then fed into the second stage of the fuzzy controller and linear velocity is output. The freespace value is a measure of the openness of the immediate environment. Incorporating this variable in the fuzzy controller enables the robot to adapt to the environment and move at a more suitable speed. In our tests, the robot was able to react both quickly and correctly to the perceived sensor data as it navigated its way through a variety of environments. Testing has identified several system parameters that, when modified, can significantly affect the performance of the controller. A solid foundation is laid for possible optimization of these parameters via a learning algorithm
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it