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Fuzzy logic based behavior fusion for navigation of an intelligent mobile robot

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Abstract

This paper presents a new method for behavior fusion control of a mobile robot in uncertain environments. Using behavior fusion by fuzzy logic, a mobile robot is able to directly execute its motion according to range information about environments, acquired by ultrasonic sensors, without the need for trajectory planning. Based on low-level behavior control, an efficient strategy for integrating high-level global planning for robot motion can be formulated, since, in most applications, some information on environments is prior knowledge. A global planner, therefore, only needs to generate some subgoal positions rather than exact geometric paths. Because such subgoals can be easily removed from or added into the planner, this strategy reduces computational time for global planning and is flexible for replanning in dynamic environments. Simulation results demonstrate that the proposed strategy can be applied to robot motion in complex and dynamic environments.

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Authors and Affiliations

  1. Department of Computer Science and Technology, Tsinghua University, 100084, Beijing

    Li Wei, Chen Zushun, Ma Chenyu, He Kezhong & Wang Tianmiao

Authors
  1. Li Wei
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  2. Chen Zushun
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  3. Ma Chenyu
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  4. He Kezhong
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  5. Wang Tianmiao
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Additional information

This research is supported by National Natural Science Foundation of China.

Li Wei received his B.S. and M.S. degrees in electrical engineering from the Northern Jiaotong University, Beijing in 1982 and 1984, and his Ph.D. degree in electrical engineering from the University of Saarland, Germany in 1991, respectively. Since 1993, he has been a faculty member at Tsinghua University, where he is currently an Associate Professor of Computer Science and Technology. His current research interests are in the areas of robotics, intelligent systems, computational intelligence, behavior based modeling and control, multisensor fusion and integration, graphical simulation. He is the author of the book, Graphical Simulation and Collision Avoidance of Robots and published over 50 technical papers, in German. Dr. Li is a Member of ASME and IEEE.

Chen Zushun received his B.S. degree in mathematics and M.S. degree in computer science from Tsinghua University, Beijing in 1967 and 1981, respectively. He is a Lecturer of the Department of Computer Science and Technology, Tsinghua University. His research interests include semantics of intelligent systems as well as human languages. He has published several technical papers in these areas.

Ma Chenyu received his B.S. and M.S. degrees in computer science and engineering from Jilin University, the People’s Republic of China, in 1989 and 1992, respectively. He is currently a Ph.D. candidate at the Department of Computer Science and Technology, Tsinghua University. His research interests include on-line motion planning of multiple robots and neuro-fuzzy control.

He Kezhong was born in Shanghai, in December 1936. He graduated from the Department of Automatic Control, Tsinghua University, Beijing, the People’s Republic of China in 1962. He is now a Professor of the Department of Computer Science and Technology, Tsinghua University. His research interests include intelligent robots and control engineering. He is the author of two books on computer control and approximately published 40 papers.

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Li, W., Chen, Z., Ma, C. et al. Fuzzy logic based behavior fusion for navigation of an intelligent mobile robot. J. of Comput. Sci. & Technol. 11, 385–394 (1996). https://doi.org/10.1007/BF02948482

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  • DOI: https://doi.org/10.1007/BF02948482

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