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The important challenge in mobile robots is the ability to autonomously navigate, by avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. In a way to structure the navigation task to tackle the problem, a behavior-based navigation is considered. In this article, the use of individual conducts design and action coordination of the behaviors using fuzzy logic is used. A layered approach is employed in this work in which a supervision layer based on the context makes a decision to which behaviors to process, rather than processing all behaviors.
Date of Conference: Sept. 28 2010-Oct. 1 2010