A Fuzzy Behavior-Based Architecture for Mobile Robot Navigation in Unknown Environments

被引：29
|
作者：
Bao Qing-yong [1 ]
Li Shun-ming [1 ]
Shang Wei-yan [2 ]
An Mu-jin [1 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Coll Energy & Power Engn, Nanjing 210016, Peoples R China
[2] Ningbo Univ Technol, Sch Mech Engn, Ningbo 315211, Zhejiang, Peoples R China
来源：
2009 INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE AND COMPUTATIONAL INTELLIGENCE, VOL II, PROCEEDINGS | 2009年
基金：
中国国家自然科学基金;
关键词：
Mobile robot; navigation; fuzzy logic control; behavior-based control; sensor; LOGIC; FUSION;
D O I：
10.1109/AICI.2009.125
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In order to incorporate fuzzy logic control with priority-based behavior control, a behavior-based architecture using fuzzy logic was designed for mobile robot navigation in unknown environments. First, design four basic behaviors for mobile robot navigation, including goal seeking behavior, obstacle avoidance behavior, tracking behavior, and deadlock disarming behavior, and implement these basic behaviors by using fuzzy logic controller; Then, for integrating these basic behaviors, a behavior controller is designed to determine the control action of the mobile robot. Simulation experimental results show that the proposed architecture can be effectively applied to mobile robot navigation in complex and unknown environments, and it has good robustness and satisfactory ability in tackling sensor uncertainties.
引用
收藏
页码：257 / +
页数：2
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