Autonomous robot navigation using fuzzy logic controller

摘要

The main challenge for designers of today's autonomous robotics is to build robust control programs that reliably perform complex tasks in the face of real-world environmental uncertainties. This paper proposes a generalized framework for a behavior-based navigation strategy of autonomous robots. This framework includes goal determination, preprocessing, behavior design, behavior arbitration, and command fusion. This framework is practical and used for our novel telecommanding teleoperation paradigm. The experiments, including wander, goal control and advanced telecommanding, have shown this framework to be reliable.