A new approach to design fuzzy controllers for mobile robots navigation

摘要

This article presents a new method to design, in two levels, fuzzy controller for reactive navigation of a mobile robot in a structured unknown environment. At the first level, adjacent sensors are grouped in areas and are used to define focal behaviors. These local behaviors are then gathered at the second level in order to define a global behavior. Two experiments with different local behaviors and different mechanism of integration are presented on our Nomad200 mobile robot.