A1-3 - Sedma Nacionalna Konferencija so Me|unarodno U~estvo...

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MOBILE ROBOT NAVIGATION VIA FUZZY BEHAVIOR CONTROL Zoran Gacovski 1 , Ivan Kraljevski 2 1 Faculty of Social Sciences, Anton Popov, bb, Skopje, Macedonia; tel. 389 2 2580 161, fax 389 2 2520 400, zoran@eurm.edu.mk 2 Faculty for Veterinary Medicine - Skopje Abstract – The development of techniques for autonomous navigation constitutes one of the major trends in the current research on mobile robotics. Realization of autonomous behavior in mobile robots, using fuzzy logic control, requires formulation of rules which are responsible for necessary levels of intelligence. This collection of rules can be decomposed and efficiently implemented via composition of different fuzzy behaviors. In this paper -we discuss how fuzzy behaviors can be used for mobile robot autonomous navigation: (i) how to design basic behaviors, (ii) how to coordinate behaviors to execute full navigation plans. We made simulation in Matlab for simple mobile robot moving in 2D environment. The use of fuzzy logic has resulted in smooth motion control, robust performance in face of errors in the prior knowledge, and principled integration between different layers of control. Keywords - Mobile robots, fuzzy behavior, robot navigation, multiple behaviors integration . 1. INTRODUCTION By autonomous robot navigation we mean the ability of a robot to move purposefully and without human intervention in environments that have not been specifically engineered for it. Autonomous navigation requires a number of heterogeneous capabilities, including the ability to execute elementary goal-achieving actions, like reaching a given location; to react in real time to unexpected events, like the sudden appearance of an obstacle; to build, use and maintain a map of the environment; to determine the robot’s position with respect to this map; to form plans that pursue specific goals or avoid undesired situations; and to adapt to changes in the environment. A number of different architectures for autonomous robot navigation have been proposed in the last twenty years. These include hierarchical architectures, that partition the robot’s functionalities into high-level (model and plan) and low-level (sense and execute) layers; behavior-based architectures, that achieve complex behavior by combining several simple behavior-producing units; and hybrid architectures, that combine a layered organization with a behavior-based decomposition of the execution layer. While the use hybrid architectures is gaining increasing consensus in the field, a number of technological gaps remain. Among this, we emphasize: ± How to design simple behaviors that guarantee robust operation in spite of the limited knowledge available at design time; e.g. designing an obstacle avoidance behavior that is
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This note was uploaded on 02/18/2010 for the course ITK ETF113L07 taught by Professor Popovskiborislav during the Spring '10 term at Pacific.

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A1-3 - Sedma Nacionalna Konferencija so Me|unarodno U~estvo...

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