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Sensor-based fuzzy reactive navigation of a mobile robot through local target switching

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2 Author(s)
Xu, W.L. ; Inst. of Technol. & Eng., Massey Univ., Palmerston North, New Zealand ; Tso, S.K.

Fuzzy reactive control, incorporating a local target switching scheme, is applied to the automatic navigation of an intelligent mobile robot in an unknown and changing environment. Sensed-ranging signals and relative target position signals are input to the fuzzy controller. The steering angle and the velocity change are inferred to drive the mobile robot. A reactive rule base governing the robot behavior is synthesized from the human heuristics with respect to various situations of environment. A local target switching scheme is proposed to serve as a front-end processor of the fuzzy active controller and to deal with the local trapping and wandering cycle problem in the navigation of a behavior based mobile robot. The algorithm is described, together with some particular considerations about implementation. Efficiency and effectiveness of the proposed approach are verified through simulation and experiments conducted on a Nomad 200 mobile robot

Published in:

Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on  (Volume:29 ,  Issue: 3 )