Behavior-based mamdani fuzzy controller for mobile robot wall-following

Most of the researches on mobile robot wall-following problem are focused on straight or continuous smooth wall-following cases. This paper proposes a behavior-based fuzzy controller for multi-type-wall following. The fuzzy controller provides an information fusion mechanism for combining sensor data from all laser range finder sensors. The behavior-based approach is implemented as a coordinator to manage the switching among various behaviors to solve the multi-type-wall following problem. The simulation results demonstrate that the mobile robot can follow the wall with convex corner and concave corner.