Subsumption and Fuzzy-Logic, Experiments in Behavior-Based Control of Mobile Robots

Abstract

This article describes experiments in enhancing the subsumption approach to behavior-based control as applied to a wheeled autonomous mobile robot. A modified or enhanced subsumption control approach is used, which reverses the behavior priority ordering between layers, and experimental results are reported. Modified behaviors employing fuzzy logic for command fusion are discussed and the testing of these demonstrates significant improvements in navigation around obstacles towards a goal.