Intelligent behaviors and sensor fusion for mobile robot based on fuzzy realization

Abstract

This paper describes how fuzzy control can be applied to a sonar-based mobile robot. Behavior-based fuzzy control for robot behaviors was designed using sonar sensors. (10)

Throughout this research work experimental mobile robot is used as the development platform to embody some basic behaviors. That can further be combined to build more complex behaviors. Avoid - Obstacle, Left-Right wall following, Move To-Point, Vision information detection and Emergency behaviors will be designed and embody as basic robot behaviors. (1) However, this effort basically emphasized in terms of sonar base obstacle avoidance behavior. The results show that Fuzzy behaviors are used to make the robot work intelligently, where Fuzzy rules are defined based on the tasks. The final robot commands will be depended on the Fuzzy selection that integrates and coordinates all behaviors, in which a simple Fuzzy reasoning is assigned to one elemental behavior consisting of a single input - output relation.

The most of the behaviors are encoded using Fuzzy Sets and the coordination of the behaviors is done through subsumption Architecture. The Mobotsim and Matlab based mobile robot simulators were used to simulate the robot’s behaviors individually in real world situations.

The robot can avoid all obstacles that are detected by sonar sensors. The task behaviors show that robot forward as the user assigns and moves to follow the wall by using the wall following behavior. The distance between the robot and wall can be controlled by using the fuzzy controller. However, in some situations the robot may stop if the objects are moved very quickly close to the robot.

The simulated results demonstrate that each behavior works near accurately. The robot can avoid obstacles detected by the sonar sensors.