Behavior-Based Fuzzy Control for Mobile Robot Navigation-Reference-Cited by-同舟云学术

Behavior-Based Fuzzy Control for Mobile Robot Navigation

Published:2013 Issue: Volume:2013 Page:1-10
ISSN:1024-123X
Container-title:Mathematical Problems in Engineering
language:en
Short-container-title:Mathematical Problems in Engineering

Author:

Mo Hongwei¹,Tang Qirong²,Meng Longlong¹

Affiliation:

1. Automation College, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin 150001, China

2. University of Stuttgart, Pfaffenwaldring 9, 70569 Stuttgart, Germany

Abstract

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.

Funder

National Natural Science Foundation of China

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Link

http://downloads.hindawi.com/journals/mpe/2013/561451.pdf

Reference7 articles.

1. Behavior Hierarchy for Autonomous Mobile Robots: Fuzzy-Behavior Modulation and Evolution

2. Fuzzy sets as a basis for a theory of possibility

3. A fuzzy-based reactive controller for a non-holonomic mobile robot