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Mobile robot control based on fuzzy behavior and robot safety body in unknown environment

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6 Author(s)
Fu Yili ; Dept. of Mech. Eng., Harbin Inst. of Technol., China ; Xu Hongyan ; Wang Shuguo ; Liu Jianguo
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Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture is then proposed on the basis of robot safety body for mobile robots in complex and unstructured environments. Many sensors in various kinds are used to localize and navigate with fuzzification on target information, obstacle information and local terrain. Finally, lots of experiments of our mobile robot are carried out in many kinds of man-made complex environments, and the control architecture and the robot safety body with our robot is proved valid, which give a solid support for our further research for mobile robot in unknown environments.

Published in:

2005 International Symposium on Computational Intelligence in Robotics and Automation

Date of Conference:

27-30 June 2005