Behaviour based mobile robot navigation technique for real world environments using fuzzy logic system

摘要

A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the focus is to develop the techniques and methods to: (1) design the individual behavior, coordination, and fusion of these behaviors using fuzzy logic expert system. Each behavior design is based on the situation context of applicability (SCA). (2) Design of the controller, which maps the sensors input to the motor output through fuzzy logic inference system. (3) Formulation of the decision-making processes by using fuzzy associative memory (FAM). (4) Obtain experimental results using simulation. The above methods and techniques are applied for active media pioneer robot and tested through simulation.