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Robot Navigation Based on Fuzzy Behavior Controller

  • Hongshan Yu
  • Jiang Zhu
  • Yaonan Wang
  • Miao Hu
  • Yuan Zhang
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7368)

Abstract

This paper presents a robot navigation method based on fuzzy inference and behavior control. Stroll, Avoiding, Goal-reaching, Escape and Correct behavior are defined for robot navigation. The detailed scheme for each behavior is described in detail. Furthermore, fuzzy rules are used to switch those behaviors for best robot performances in real time. Experiments about five navigation tasks in two different environments were conducted on pioneer 2-DXE mobile robot. Experiment results shows that the proposed method is robust and efficiency in different environments.

Keywords

robot navigation behavior control fuzzy control 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Hongshan Yu
    • 1
  • Jiang Zhu
    • 2
  • Yaonan Wang
    • 1
  • Miao Hu
    • 1
  • Yuan Zhang
    • 1
  1. 1.College of Electrical and Information EngineeringHunan UniversityChangshaChina
  2. 2.School of Information EngineeringXiangtan UniversityXiangtanChina

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