Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
An Behavior-based Robotics
Multisensor Fusion: An Autonomous Mobile Robot
Journal of Intelligent and Robotic Systems
How to Do the Right Thing
Integrating behavioral, perceptual, and world knowledge in reactive navigation
Robotics and Autonomous Systems
Control of a differentially driven mobile robot using radial basis function based neural networks
WSEAS Transactions on Systems and Control
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This paper presents fuzzy behaviour based control for a differential drive mobile robot in an unstructured environment capable of tracking priority based multiple targets. Behaviours implementation is done by incorporating the obstacle range data from each ultrasonic range finder, current location of mobile robot and selected target location based on its priority. This behaviour based control architecture is composed of two layers; the first layer selects a group of behaviours and second implements controller actions for the selected group. The layered architecture reduces the rule base as well as allows further decomposition of behaviours. The behaviour conflict management is done by using inhibition at first layer and suppression at second layer. The selection of the next target to be tracked is done on the basis of predefined priorities and conflict among equal priority targets is resolved by minimum Euclidean distance measure. Simulation results verify the effectiveness of proposed method by implementing Obstacle Avoidance, Wall Following, Corridor Following, Target Steering and Emergency behaviours successfully in a single, and multiple target environments. Moreover the conflict management scheme for tracking multiple targets with equally priority is also validated.