Fuzzy control for behavior-based mobile robots

This paper presents an implemented control architecture for behavior-based mobile robots in partially known environments. In addition to coordinating primitive behaviors, the fuzzy controller is able to integrate reactive behaviors with goal-directed planning capabilities so that the robot can reach its goals more efficiently. The fuzzy controller was tested on a mobile robot equipped with sonars and infrared sensors to perform collision-free navigation toward any given goal position. The performance of the navigation system was compared with two existing algorithms, and the experimental results showed that the proposed architecture provides an efficient and flexible solution to higher level control problems.