Blending multi-behaviors of intelligent reactive navigation for legged walking robot in unstructured environment

摘要

The reaction of autonomous mobile robot to the dynamic, uncertain, and changeable environment is one of most difficult issue in control of the intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling the intelligent reactive navigation. Present work deals with building of fuzzy behaviors based reactive navigation to reach the goal, propose new method to blend and coordinate multiple behaviors in the same time. This method using fuzzy technique and fix priority value reflects the importance of the behavior. Our behaviors system is test by building our simulation and animation programs that reflect online the robot movement using graphical user interface (GUI).