Modified fuzzy behavior coordination for autonomous mobile robot navigation system

In behavior based robotics, development of behavior coordination method is very important. Fuzzy Behavior Coordination (FBC) can be used here, but it still have weaknesses, because it can result in slow robot movement, too long time to reach the target and fail to avoid trap. In this paper, modification of FBC, by combining it with Subsumption Architecture, is proposed to overcome those weaknesses. The simulation result shows that MFBC give the faster robot movement and decrease the amount of time to reach the target.