Behavior-based mamdani fuzzy controller for mobile robot wall-following

Author

Xiao Li ; Dan Wang

Author_Institution

Dept. of Marine Eng., Dalian Maritime Univ., Dalian, China

fYear

2015

fDate

20-22 May 2015

Firstpage

78

Lastpage

81

Abstract

Most of the researches on mobile robot wall-following problem are focused on straight or continuous smooth wall-following cases. This paper proposes a behavior-based fuzzy controller for multi-type-wall following. The fuzzy controller provides an information fusion mechanism for combining sensor data from all laser range finder sensors. The behavior-based approach is implemented as a coordinator to manage the switching among various behaviors to solve the multi-type-wall following problem. The simulation results demonstrate that the mobile robot can follow the wall with convex corner and concave corner.

Keywords

fuzzy control; laser ranging; mobile robots; sensor fusion; behavior-based Mamdani fuzzy controller; behavior-based approach; behavior-based fuzzy controller; concave corner; convex corner; information fusion mechanism; laser range finder sensor; mobile robot wall-following; multitype-wall following problem; sensor data; smooth wall-following case; Fuzzy logic; Kinematics; Mobile robots; Pragmatics; Robot sensing systems; Wheels; Behavior-based fuzzy control; mobile robot; multi-type-wall; wall-following;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Robotics (ICCAR), 2015 International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4673-7522-1

Type

conf

DOI

10.1109/ICCAR.2015.7166006

Filename

7166006