Robot Navigation Based on Fuzzy Behavior Controller

This paper presents a robot navigation method based on fuzzy inference and behavior control. Stroll, Avoiding, Goal-reaching, Escape and Correct behavior are defined for robot navigation. The detailed scheme for each behavior is described in detail. Furthermore, fuzzy rules are used to switch those behaviors for best robot performances in real time. Experiments about five navigation tasks in two different environments were conducted on pioneer 2-DXE mobile robot. Experiment results shows that the proposed method is robust and efficiency in different environments.

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