이동로봇의 자율주행을 위한 행동기반의 퍼지 제어

Behavior-Based Fuzzy Control of Mobile Robots for Autonomous Navigation

In this paper, a behavior-based fuzzy control of mobile robots for autonomous navigation is presented. Behaviors of mobile robots are divided into two categories: reactive behavior and purposeful behavior, which are incompatible with each other. The former is reaction performed in terms of the sensory data and the latter is action for achieving the goal. The presented method generates appropriate control inputs to the robot to trade-off between the reactive and purposeful behaviors using fuzzy inferences. The method is applied to an synchro-drive type mobile robot and shown to be useful for autonomous robot navigation by providing simulation results.