Coordination Scheme and Behavior Fusion Based on Fuzzy Weighting Factors for a Mobile Robotic Navigation

This paper presents a behavior fuzzy coordination scheme for a mobile robot platform. The control architecture is composed of three basic behaviors: obstacle avoidance, left wall following and left wall following. The mechanism of fusion behavior was performed on a weighting system that acquires inf...

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Bibliographic Details
Published in:Revista IEEE América Latina 2015-01, Vol.13 (1), p.18-26
Main Authors: Zapata Cortes, Orlando, Acosta Amaya, Gustavo Alonso, Jimenez Builes, Jovani Alberto
Format: Article
Language:English
Subjects:
artificial intelligence
behavior based fuzzy control architecture
behavior coordination
fuzzy control
Mobile communication
mobile robotic
obstacle avoidance
PD control
Pulse width modulation
Robot kinematics
Robot sensing systems
tracking behavior
Zirconium
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Summary:This paper presents a behavior fuzzy coordination scheme for a mobile robot platform. The control architecture is composed of three basic behaviors: obstacle avoidance, left wall following and left wall following. The mechanism of fusion behavior was performed on a weighting system that acquires information from the environment and calculates fuzzy dynamic weighting factors adjusted to the region in which the robot travels. These factors influence the output of each behavior giving strength to the most appropriate action according to the current situation of the environment. Subsequently, the weighted outputs of each behavior are normalized by the command fusion, achieving a cooperative solution to meeting the robot navigation target.
ISSN:1548-0992
1548-0992
DOI:10.1109/TLA.2015.7040623