Paper Title:
Behavior-Based Fuzzy Control of Obstacle Avoidance for Indoor Mobile Robot
  Abstract

This paper describes indoor mobile robot covering path to avoid obstacle based on behavior fuzzy controller. The robot measures the distance to obstacle with ultrasonic sensors and infrared range sensors, and the distance is the input parameter of the behavior-based fuzzy controller. The behavior architecture has three levels behaviors: emergency behavior, obstacle avoidance behavior, and task oriented behavior. The task oriented behavior is the highest level behavior, and has two subtasks: wall following and path covering. The middle level behavior is obstacle avoidance. The lowest level is an emergency behavior, which is the highest priority behavior. The simulation result demonstrates that each behavior works correctly.

  Info
Periodical
Edited by
Shengyi Li, Yingchun Liu, Rongbo Zhu, Hongguang Li, Wensi Ding
Pages
482-486
DOI
10.4028/www.scientific.net/AMM.34-35.482
Citation
D. H. Chen, Y. M. Liang, "Behavior-Based Fuzzy Control of Obstacle Avoidance for Indoor Mobile Robot ", Applied Mechanics and Materials, Vols. 34-35, pp. 482-486, 2010
Online since
October 2010
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$32.00
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