Contribution of fuzzy and feedback control to a mobile robot adaptative navigation

Abstract

ROMEO is a wheeled autonomous mobile robot developed at the LRP. This paper deals with the overall navigation problems inherited to complex missions realization in an indoor environment. After a presentation of the high and low level systems supporting the planning and control requirements, we describe the control laws we have implemented and the way they performed in the navigation strategy. Fundamentally we deal with the elaboration of a very flexible and open architecture which combines functional and behavioral aspects to cope with asynchronous events and to give to the robot reflexivity.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>