Robot Navigation Based on Fuzzy Behavior Controller

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• 作者：Hongshan Yu (19)
  Jiang Zhu (20)
  Yaonan Wang (19)
  Miao Hu (19)
  Yuan Zhang (19)
  
• 关键词：robot navigation ; behavior control ; fuzzy control
• 刊名：Lecture Notes in Computer Science
• 出版年：2012
• 出版时间：2012
• 年：2012
• 卷：7368
• 期：1
• 页码：376-385
• 全文大小：1709KB
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• 作者单位：Hongshan Yu (19)
  Jiang Zhu (20)
  Yaonan Wang (19)
  Miao Hu (19)
  Yuan Zhang (19)
  
  19. College of Electrical and Information Engineering, Hunan University, Changsha, China
  20. School of Information Engineering, Xiangtan University, Xiangtan, China
  

文摘

This paper presents a robot navigation method based on fuzzy inference and behavior control. Stroll, Avoiding, Goal-reaching, Escape and Correct behavior are defined for robot navigation. The detailed scheme for each behavior is described in detail. Furthermore, fuzzy rules are used to switch those behaviors for best robot performances in real time. Experiments about five navigation tasks in two different environments were conducted on pioneer 2-DXE mobile robot. Experiment results shows that the proposed method is robust and efficiency in different environments.