Development of a Navigation System for Mobile Robots Using Different Patterns of Behavior Based on Fuzzy Logic

摘要

The important challenge in mobile robots is the ability to autonomously navigate, by avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. In a way to structure the navigation task to tackle the problem, a behavior-based navigation is considered. In this article, the use of individual conducts design and action coordination of the behaviors using fuzzy logic is used. A layered approach is employed in this work in which a supervision layer based on the context makes a decision to which behaviors to process, rather than processing all behaviors.