Fuzzy logic-based `perception-action' behavior control of a mobilerobot in uncertain environments

摘要

This paper presents a method for fuzzy logic-based`perception-action' behavior control of a mobile robot in uncertainenvironments. A key problem in `perception-action' behavior control isto coordinate and integrate more reactive behaviors when the mobilerobot executes tasks in complex environments. The main idea of the paperis to formulate `perception-action' behaviors and to coordinate theirconflicts and competitions by fuzzy sets and fuzzy rules. An advantageof this method is that the coordination of more reactive behaviors isvery robust (nearly independent of dynamic environments). The simulationresults show that the proposed method, only using dynamic informationacquired by ultrasonic sensors, can perform robot navigation in complexand uncertain environments by efficiently weighting reactive behaviors,such as obstacle avoidance, edge following, and moving to the target