A Fuzzy Behavior-Based Architecture for Mobile Robot Navigation in Unknown Environments

摘要

In order to incorporate fuzzy logic control with priority-based behavior control, a behavior-based architecture using fuzzy logic was designed for mobile robot navigation in unknown environments. First, design four basic behaviors for mobile robot navigation, including goal seeking behavior, obstacle avoidance behavior, tracking behavior, and deadlock disarming behavior, and implement these basic behaviors by using fuzzy logic controller; Then, for integrating these basic behaviors, a behavior controller is designed to determine the control action of the mobile robot. Simulation experimental results show that the proposed architecture can be effectively applied to mobile robot navigation in complex and unknown environments, and it has good robustness and satisfactory ability in tackling sensor uncertainties.