A Behavior-Based Controller for a Mobile Robot Tracking a Moving Target in Multi-obstacles Environment

摘要

Target tracking and obstacle avoidance are the most challenging tasks for an autonomous mobile robot moving in unknown environments. This paper presents a simple behavior-Based control strategy that enables a mobile robot to track a moving target along an unknown trajectory in a multi-obstacles environment. The proposed controller includes two behaviors: a target tracking behavior which is designed using the Lyapunov-Based control technique and an obstacle avoidance behavior designed with fuzzy logic control. Then, a fusion arbitration behavior is developed to combine the two behaviors' outputs to compute both linear and angular velocities of the mobile robot in order to regulate its current perceptual state to fulfill the control objectives successfully. Simulation results illustrate that the proposed approach is efficient and effective and leads to good performances of tasks' navigation.