Behavior fusion for robot navigation in uncertain environments using fuzzy logic

A key problem in behavior based control is to coordinate conflicts and competitions among multiple reactive behaviors. This paper presents a new method for behavior fusion for robot navigation in uncertain environments using fuzzy logic. The inputs to the proposed fuzzy control scheme consist of a heading angle between a robot and a specified target and the distances between the robot and the obstacles to the left, front, and right locations, acquired by an array of ultrasonic sensors. The outputs from the control scheme are commands for the speed control unit of two rear wheels of the mobile robot. The simulation results show that the proposed method, only using range information acquired by ultrasonic sensors, can be efficiently applied to robot navigation in complex and uncertain environments