Composition, Coordination and Simulation of Reactive Fuzzy Behaviors for an Mobile Agricultural Robot

The work presents the development of a complex navigational behavior combining some simple fuzzy behaviors for a mobile agricultural robot (MAR). Fuzzy rules are used to compose and coordinate the simple behaviors and an experimental robotic platform based on Khepera mini-robot is proposed to simulate and support the researches on behavior based architecture for agricultural robots. The mini-robot is used for testing of the navigational controller with an integrated perceptual circuit based on light dependent resistors (LDR) to facilitate a path following behavior. Experiments have been performed to evaluate the implemented behaviors and the ability of the platform to operate on a simulated agricultural environment. The results show the feasibility of the approach on the platform and the behaviors that could be used to improve behavior based architectures for MAR’s.