Multilevel fuzzy navigation control scheme applied to a monitoring mobile robot

The design, construction and real time performance of a mobile monitoring system based on a Khepera mobile robot are presented. The functions performed by the system are: (a) line following, (b) obstacle avoidance, (c) identification of test points along the path, (d) recognition of the mark (bar code) located at each test point and, (e) measuring of a physical parameter. For the navigation, an innovative multilevel fuzzy control scheme is implemented in which the fuzzy sensor fusion, related to the perception of the environment, reduces the complexity of the navigation function. Other distinctive characteristics are the identification of test points by means of a Kohonen's neural network and the processing of a one-dimensional video signal for recognition of landmarks located at each test point.