Hybrid Deliberative Reactive Navigation System for Mobile Robots Using ROS and Fuzzy Logic Control

摘要

Autonomous navigation involves solving problems of perception, localization, planning and control. Based on how these problems can be solved it is possible to have a deliberative, reactive or deliberative-reactive (hybrid) navigation. Additionally, navigation must meet security requirements for both the robot and humans operating in the same workspace. Thus, a navigation system for differential hybrid mobile robots in structured environments was designed, which integrates the advantages of a high level deliberative planner with a reactive low-level control and easing some of its weaknesses. For this, a fuzzy logic controller was implemented. The proposed system was tested with a simulated robot Amigobot with a Kinect sensor using V-REP and ROS.