A preference-based fuzzy behaviors method for autonomous robot navigation in dense environment

One of the current challenges in the development of robot navigation systems is making them capable of intelligent and suitable responses to the complex and changing environments. The navigation of the robot´s behavior becomes very challenging when it is under complex and dynamic environments. Autonomous navigation systems for mobile robots have been well developed for a wide range of planar ground-based tasks. This paper presents a novel prefence-based fuzzy behavioral scheme for navigating an unmanned vehicle in dense 3-D environments. The 3-D navigation problem is divided into several identical 2-D navigation sub-problems, each of which is solved by using preference-based fuzzy behaviors. A new defuzzification algorithm that steers the robot by finding the centroid of a 3-D convex region of maximum volume in the 3-D solution region is developed. A fuzzy speed control system is also developed to ensure efficient and safe navigation.