Hierarchical Fuzzy Behavior-Based Control Method for Autonomous Mobile Robot Navigation

摘要

This paper proposes the core theoretical foundations on design of the Compound Zeno Behavior in hierarchical hybrid behaviors, including the definitions of different types of behaviors and some theorems. New hierarchical fuzzy behavior-based control architecture of an autonomous mobile robot using the information extracted from its sensors in unknown environments is presented. After that, the paper focuses on the coordination and fusion of the elementary behaviors, which are achieved by means of fuzzy reasoning scheme. Simulation results illustrate the effective performance of the control architecture.