Fuzzy behaviors for mobile robot navigation: design, coordination and fusion

摘要: Abstract The implementation of complex behavior generation for artificial systems can be overcome by decomposing the global tasks into simpler, well-specified behaviors which are easier to design and tuned independently each other. Robot implemented as a set fuzzy rules mimic expert knowledge in specific order model knowledge. These included lowest level hybrid deliberative–reactive architecture is aimed at an efficient integration planning reactive control. In this work, we briefly present attention focused on design, coordination fusion elementary behaviors. based regulatory control using logic defined metarules define context applicability behavior. Regarding action fusion, two combination methods fusing preferences from used experiments. validate system, several measures also proposed, thus performance combination/arbitration algorithms have been demonstrated both simulated real world. robot achieves every objective trajectory smooth spite interaction between behaviors, unexpected obstacles presence noisy data. When results experimentation taken account, influence method appears prime importance when attempting achieve best trade-off among