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.