Autonomous Mobile Robot Control Algorithm Based on Hierarchical Fuzzy Behaviors in Unknown Environments

摘要

A new hierarchical fuzzy behavior-based control approach of an autonomous robot was proposed, which focused on the design on coordination and fusion of these elementary fuzzy behaviors.The elementary behaviors were achieved by fuzzy reasoning scheme, and high-level behaviors were composed of these primitive behaviors. Neural networks were used to select and fuse different behaviors like a person, so that the motion speed and rotational velocity of the mobile robot can change smoothly, because the sharp shift of different behavior would exacerbate the absolute position errors. The feasibility of the proposed design is validated by different simulation experiments.