Design of Telemedicine Robot using Behavior-based Control Architecture with Two-Step Fuzzy Logic Optimization

摘要

Designing a telemedicine robot is a challenging task. Complexity, incomplete prior knowledge of the environment and unexpected situations set strict requirements for both the hardware and software components of the robot. Several robotics architectures have been proposed that try to cope with the above problems. The behaviorbased approach has been established as the main alternative to new robot control. The paper presents the design and prototype of a telemedicine robot using behavior-based control architecture. Several behaviors will design to assist the robot, such as: Remotely control, seeing the situation and detecting obstacles when the robot maneuvers. A fuzzy behaviorbased used in one of the behaviors. A Two-Step Fuzzy Optimization is used to optimize the fuzzy parameters and generate a robust and smooth braking system. Based on several experiments, the robot can maneuver properly as instructed. In general, it can be said that the design of telemedicine robots works with excellent performance.