AN APPROACH DESIGNING AUTONOMOUS ROBOT NAVIGATION SYSTEM BASED ON BEHAVIOR COORDINATION

Abstract

Robot navigation using fuzzy behavior is suited in unknown and unstructured environment in which each behavior have an individual task. This paper deals with an approach designing autonomous robot navigation system based on fuzzy behaviors including collision avoidance, wall-following, go-to-target. The proposed hierarchy of fuzzy behaviors is used to fuse the command in which each behavior is a fuzzy inference system and its outputs are fuzzy sets. Its inputs are information fused from sensors using fuzzy directional relationship. The simulation results with some statistics show that the system works correctly.

Keywords

• robot navigation
• fuzzy directional relation
• fuzzy inference system
• mobile robot
• behavior hierarchy