Behavior-based hierarchical fuzzy control for mobile robot navigation in dynamic environment

It is of high significance to investigate the mobile robot navigation under dynamic unknown environment. In order to realize the non-collision movement of mobile robots in dynamic unknown circumstance, behavior-based hierarchical fuzzy logic controller to solve the robot navigation and priority-based behavior control are proposed in this paper. First, four basic behaviors, goal seeking, obstacle avoidance, wall following and deadlock disarming, for mobile robot navigation are proposed, and the former three basic bahaviors are implemented through a fuzzy logic controller. To the ‘U’ or ‘V’ shaped acute obstacles where mobile robot may be trapped, path remembering behavior is employed to protect robot from re-entering the similiar areas through constructing the Virtual Wall. Matlab simulation results show that the proposed approach is effective in navigating mobile robots in a dyanminc unknown circumstance.