Intelligent multi-behavior control and coordination for the autonomous differential drive mobile robot

The autonomous navigation of the mobile robot in an unknown, unstructured and dynamic environment is one challenging problem. An intelligent behavior control system based on fuzzy logic algorithm is proposed for an autonomous mobile robot to traverse through various terrains as slope, maze, and dynamic obstacle and dock station. A hierarchical structure consists of the main high-level navigation controller and a remote low-level closed-loop system is developed. The uncertainties in robot system are evaluated and it confirms the mathematical model base control strategy may need huge computation to deal with this issue. The proposed system is robust to the uncertainties and only uses sensors on the robot. The experiment results show the mobile robot can effectively and efficiently complete the trajectory autonomously avoiding obstacles in motion or stationary. The robot generates smooth and collision free trajectory without prior knowledge of the environment. The result demonstrates the system is robust to the uncertainties in the sensory readings.