Behavior-Based Fuzzy Control for Mobile Robot Navigation

被引：14
|
作者：
Mo, Hongwei [1 ]
Tang, Qirong [2 ]
Meng, Longlong [1 ]
机构：
[1] Harbin Engn Univ, Automat Coll, Harbin 150001, Peoples R China
[2] Univ Stuttgart, D-70569 Stuttgart, Germany
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2013年 / 2013卷
基金：
中国国家自然科学基金;
关键词：
OBSTACLE AVOIDANCE;
D O I：
10.1155/2013/561451
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A new behavior-based fuzzy control method for mobile robot navigation is presented. It is based on behavioral architecture which can deal with uncertainties in unknown environments and has the ability to accommodate different behaviors. Basic behaviors are controlled by specific fuzzy logic controllers, respectively. The proposed approach qualifies for driving a robot to reach a target while avoiding obstacles in the environment. Simulation and experiments are performed to verify the correctness and feasibility of the proposed method.
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页数：10
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