Hierarchical control for autonomous mobile robots with behavior-decision fuzzy algorithm

The authors propose a construction method of a behavior-decision system using fuzzy algorithms capable of expressing sequence flow which includes a mixture of both crisp and fuzzy processing. They also propose a method of tuning algorithms for giving robots the autonomous ability to judge purposes of actions like humans. In this method, an attempt is made to express ambiguous situations which a robot will encounter and behavior-decision algorithm flow by using the modified fuzzy algorithm with fuzzy branch controlled threshold, called a behavior-decision fuzzy algorithm. Results of computer simulations for a simple indoor environment and experiments using a real autonomous mobile robot are shown to prove the effectiveness of the proposed method