Behavior-Decision Fuzzy Algorithm for Autonomous Mobile Robot

Abstract

The ambiguous state recognition when an autonomous mobile robot moves around a complex environment is one of the most important problems in the robot control. We propose a construction method of the behavior-decision system using fuzzy algorithms capable of expressing sequence flow which includes a mixture of both crisp and fuzzy processing. We also propose in this paper a method of tuning algorithms for giving robots the autonomous ability to judge purposes of actions like human. In this method, we try to express ambiguous situations which a robot will encounter and decision algorithm flows by using fuzzy algorithms with fuzzy branch controlled threshold, which we call it the behavior-decision fuzzy algorithm. Furthermore, we introduce a fuzzy inference shell and a mobile robot simulator developed for this research. Finally, we report some results of computer simulations and experiments concerning an evaluation of this method supposed simple in-door environments.