A Fuzzy Behaviours Fusion Algorithm for Mobile Robot Real-time Path Planning in Unknown Environment

摘要

This paper presents a new method for behavior-based control for mobile robots path planning in unknown environments using fuzzy logic. The main idea of this paper is to incorporate fuzzy logic control with behavior-based control. The basic behaviors are designed based on fuzzy control technique and arc integrated and coordinated to form complex robotics system. More behaviors can be added into the system as needed. The output from the target steering behavior and the obstacle avoidance behavior arc combined to produce a heading which takes a robot towards its target location while avoiding obstacles. Player/Stage simulation results show that the proposed method can be efficiently applied to robot path planning in complex and unknown environments by fusing multiple behaviors and the fuzzy behaviors made the robot move intelligently and adapt to changes in its environment. Furthermore, with the characteristic of Player/Stage the algorithm in this paper can be implemented on the real robots with so few or no changes.