Behavior modulation of autonomous mobile robotics using fuzzy control method

In recent years, intelligent control is playing a more and more important role when dealing with Autonomous Mobile Robot (known as AMR), in unstructured, unknown or partly unknown, and dynamic environments. In dividing the overall task into subtasks, the intelligent controller allows reducing the robot´s task complexity. But the fusion of different behaviors with different objectives may cause contradiction in the procedure and alter the stability of system. Therefore the issue of behavior coordination mechanisms is crucial in order to realize the non-collision safety-ensured movement. A method based on Fuzzy Discrete Event System is proposed in this paper. A new approach with four basic behaviors: route following, target going, obstacle avoiding and deadlock disarming, for mobile robot navigation are discussed. Player/Stage simulation results show that the proposed approach is effective in navigating mobile robots in dynamic unknown circumstances.