Behavior Based Control of A Mobile Robot in Unknown Environments Using Fuzzy Logic

摘要

This paper presents a new method for behavior based control of a mobile robot in uncertain environments using fuzzy logic. Behavior based control suffers from two difficulties:1The quantitative formulation of behavior:2The efficient coordination of conflicts and competition among multiple behavior. The main idea of the present study is to incorporate fuzzy logiccontrol with behavior based control such that:behavior is formulated by fuzzy sets and a rulebase;conflicts and competition among different behavior are coordinated by fuzzy reasoning.Simulation results show that the proposed method can be efficiently applied to robot navigation in complex and unknown environments by fusing multiple behavior,such as avoiding obstacles, following edges, and moving towards a target,and so forth. In addition, this method is suitable for robot navigation by multisensor fusion and integration.