Coordination of behaviours for mobile robot floor cleaning

A fuzzy mobile robot area filling system designed to traverse the entire unknown environment is described in this paper. Such a system has a variety of applications such as vacuuming, lawn-mowing, polishing, crop harvesting, etc. It is also suitable for performing waste cleanup in hazardous environments where the area is inaccessible to humans. The robot is able to complete the cleaning task in unknown environments. Low level primitive fuzzy behaviours are integrated and coordinated with a state machine controller to achieve point to point navigation, obstacle avoidance and area filling.