Fuzzy Behaviour Based Mobile Robot Navigation in Static Environment

摘要

Navigation in mobile robotics refers to the motion of a robot from an initial location to the goal location safely by avoiding all the obstacles on its way. In this paper, a method is presented for navigation using a behavioural architecture based on fuzzy controllers. Mamdani type fuzzy logic controllers are used to build up individual behaviours. The control algorithm is developed in Simulink <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> using the Robotics System Toolbox and Fuzzy logic Toolbox of MATLAB <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> . The performance of the proposed controller is evaluated in a virtual platform V-REP©, through cross platform simulation. Each of these programs communicates using standard ROS messages and topics. Simulation results for multiple test conditions show the feasibility and good performance of the proposed method.