Disturbed behavior in co-operating autonomous robot

Abstract

Balancing the conflicting demands imposed by a dynamic world on an autonomous robot requires a significant degree of adaptability. This paper describes a multi-layer control system for two co-operating mobile robots, which uses fuzzy logic to adapt the relative importance of a set of reactive behaviours. The fuzzy system therefore acts as an arbiter, which smoothly interpolates control between conflicting behaviours. This allows the robots to successfully navigate out of local potential minima.