Fuzzy logic based behaviors blending for intelligent reactive navigation of walking robot

• Main Authors: Al-Jumaily, Adel Ali S., Amin, Shamsudin H. M.
• Format: Article
• Language: English
• Published: 1999
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/1958/1/Al-Jumaily1999_FuzzyLogicBasedBehaviorsBlendingForIntelligent.pdf; http://eprints.utm.my/id/eprint/1958/

The reaction of an autonomous mobile robot to dynamic, uncertain, and changeable environments is one of most difficult issues in control of intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling intelligent reactive navigation. The present work deals with building of fuzzy behavior based reactive navigation for obstacle avoidance, and proposes a method to blend and coordinate multi-behaviors at the same time. This method using a fuzzy technique and fixed priority value to reflect the importance of the behavior. We have built our simulation and animation programs that can reflect online the robot movement using a graphical user interface