Behavior-Based blind goal-oriented robot navigation by fuzzy logic

Authors:
Meng Wang;James N. K. Liu
Affiliations:
Department of Computing, The Hong Kong Polytechnic University, Hong Kong;Department of Computing, The Hong Kong Polytechnic University, Hong Kong
Venue:
KES'05 Proceedings of the 9th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part I
Year:
2005

Citing 2
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Sonar Based Systematic Exploration Method for an Autonomous Mobile Robot Operating in an Unknown Environment

Robotica
Real-time map building and navigation for autonomous robots inunknown environments

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

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Abstract

This paper proposes a new so-called “minimum risk” method, to address the local minimum problem that has to be faced for the goal-oriented robot navigation in an unknown environment. This method is theoretically proved to guarantee the global convergence even in the long-wall, large concave, recursive U-shape, unstructured, cluttered, and maze-like environments. The minimum risk method adopts a strategy of multiple behaviors coordination, in which a novel path-searching behavior is developed by fuzzy logic to recommend the regional direction with minimum risk. This behavior is one of the applications of the proposed memory grid technique. The proposed method is verified by the simulation and real world tests.