Two layered behaviour based navigation of a mobile robot in an unstructured environment using fuzzy logic

This paper proposes a fuzzy behaviour based controls for the navigation of a differential drive mobile robot in an unstructured environment. Behaviours are implemented by incorporating the information of the current location of mobile robot, location of target and distance of the obstacles from the ultrasonic range finders. This behaviour based controls architecture is composed of two layers, the first layer selects a group of behaviours and second implements controller actions for the selected group. The layered architecture reduces the rule base as well as allows further decomposition of behaviours. The behaviour conflict management is done by using inhibition at first layer and suppression at second layer. Simulation results verify the effectiveness of proposed method by implementing obstacle avoidance, wall following, corridor following, target steering and emergency behaviours successfully