A fuzzy approach towards behavioral strategy for navigation of mobile agent

Abstract

This paper demonstrates coordination and integration of reactive behaviors, as a key problem in autonomous navigational strategy for mobile robot, to avoid crashing with obstacles by turning to the proper angle while executing tasks in a partially known and complex configuration of obstacles. In reactive navigation, fuzzy approach has proven a commendable solution in dealing with certain ambiguous situation. As the complexity of robotic environment increases, fuzzy logic, which can handle infinite navigation situations with a finite set of rules, is implemented here for modeling uncertain systems by facilitating human-like common sense reasoning in decision-making in the absence of complete and precise information. In this work, we briefly present the hardware and kinematic architecture of model mobile robot and attention is focused on the design, coordination and fusion of the elementary behaviors of mobile robot based on weighting factors produced by fuzzy rule base taking into account current status of robot. The strategy of multi-behavior coordination enables robot to choose the safest navigation that can avoid colliding with obstacles and prevent the robot from iterating previous trajectory. The simulation studies ensure that the robot possesses intelligent decision-making capabilities in negotiating hazardous terrain conditions during the robot motion.