A fuzzy multi-behaviour reactive obstacle avoidance navigation for a climbing mobile robot

摘要

The navigational planning is a central issue in development of real-time autonomous mobile robots. Reactive methods solve the real-time reactive navigation problems, but still there are some challenging problems. Fuzzy behaviours present a successful method to solve the real-time reactive navigation problems in unknown environment. Fuzzy behaviours for free movement, obstacle avoidance, and wall following will be presented here. We shall describe fuzzy controller behaviours, the input/output parameters, and the membership functions. Some simulation results will be present to show the navigation of the robot.