Behavior Fusion for Robot Navigation in Uncertain Environments Using Fuzzy Logic
نویسندگان
چکیده
A key problem in behavior based control is to coordinate conflicts and competitions among multiple reactive behaviors. This paper presents a new method for behavior fusion for robot navigation in uncertain environments using fuzzy logic. The inputs to the proposed fuzzy control scheme consist of a heading angle between a robot and a specified target and the distances between the robot and the obstacles to the left, front, and right locations, acquired by an array of ultrasonic sensors. The outputs from the control scheme are commands for the speed control unit of two rear wheels of the mobile robot. The simulation results show that the proposed method, only using range information acquired by ultrasonic sensors, can be efficiently applied to robot navigation in complex and uncertain environments.
منابع مشابه
Fuzzy Logic Based Robot Navigation In Uncertain Environments By Multisensor Integration
This paper presents a strategy for fuzzy logic based robot navigation in uncertain environments by multisensor integration. The main idea of the study is to coordinate conflicts and competitions among multiple reactive behaviors efficiently by fuzzy sets and a rule base. To achieve this objective, an array of ultrasonic sensors and a vision system are mounted on a mobile robot. The ultrasonic s...
متن کاملFuzzy Logic-Based 'Perception-Action' Behavior Control of a Mobile Robot in Uncertain Environments
This paper presents a method for fuzzy logic-based 'perception-action' behavior control of a mobile robot in uncertain environments. A key problem in 'perception-action' behavior control is to coordinate and integrate more reactive behaviors when the mobile robot executes tasks in complex environments. The main idea of the paper is to formulate 'perception-action' behaviors and to coordinate th...
متن کاملA Nonholonomic Mobile Robot Navigation in Uncertain Environments Based on Behavior Control
This paper presents a method for navigating a nonholonomic autonomous mobile robot in a workshop based on a global vision system. In order to deal with uncertainty in the environment, a fuzzy logic strategy is used to represent mobile robot navigation behavior. The method is implemented on a nonholonomic mobile robot in IRP in Germany, and some experimental operations are performed to demonstra...
متن کاملObstacle Avoidance of Mobile Robot Based on Behavior Hierarchy by Fuzzy Logic
In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method is used to govern the robot motions. The navigation strategy...
متن کاملobile Robot Motion by Integration of Low-Level ehavior Control and High-Level Global Planning
This paper presents an efficient strategy for integrating lowlevel reactive behavior control and high-level global planning for robot motion. In low-level behavior control, robot navigation in unknown environments is performed by behavior fusion using fizzy logic; while a high-level planning method is used to determine robot motion direction since some information on environments is prior knowl...
متن کامل