A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigation

| David Payton and Ken Rosenblatt have recently proposed a command fusion method for combining outputs of multiple behaviors in a mobile robot navigation system such that information loss due to command fusion can be reduced. Using linguistic fuzzy rules to explicitly capture heuristics implicit in the Payton-Rosenblatt approach, we have extended their approach to a fuzzy logic architecture for mobile 1 Figure 1: Which way to turn? Obstacle avoidance does not know robot navigation in dynamic environments, which is simpler and easier to understand and modify. We have also developed and empirically tested a new defuzziication technique for alleviating diiculties in applying existing defuzziication methods to mobile robot navigation control.