Fuzzy behavior modulation with threshold activation for autonomousvehicle navigation

摘要

The paper describes fuzzy logic techniques used in a hierarchicalbehavior-based architecture for robot navigation. An architecturalfeature for threshold activation of fuzzy behaviors is emphasized, whichis potentially useful for tuning navigation performance in real worldapplications. The target application is autonomous local navigation of asmall planetary rover. Threshold activation of low-level navigationbehaviors is the primary focus. A preliminary assessment of its impacton local navigation performance is provided based on computersimulations