Fuzzy based reactive navigational strategy for mobile agent

摘要

This paper deals with the navigational problem for autonomous mobile robot using reactive controller which is able to react to the environment appropriately during its navigation to avoid crashing with obstacles by turning to the proper angle while moving in a partially known and complex configuration of obstacles. In reactive navigation technique, fuzzy approach has proven a commendable solution in dealing with certain ambiguous situation. As the complexity of robotic environment increases, fuzzy logic is implemented here, for modeling uncertain systems by facilitating human-like common sense reasoning in decision-making in the absence of complete and precise information. In this work, we briefly present the hardware and kinematic architecture of model mobile robot and attention is focused on the design, coordination and fusion of the elementary behaviors of mobile robot based on fuzzy rule base. The strategy of multi-behavior coordination enables robot to choose the safest navigation that can avoid colliding with obstacles and prevent the robot from iterating previous trajectory. This technique is simulated and also compared with other simulation studies by different researchers for long wall, large concave, recursive U-shaped, cluttered and maze-like indoor environments, to ensure the robustness of this method.