Navigation of a wheeled mobile robot in indoor environment by potential field based-fuzzy logic method

In this paper, we address the navigation problem of a wheeled mobile robot (WMR) under behavior-based control, such as avoiding collision and approaching a target, with the proposed potential field based-fuzzy logic (PFBFL). Generally, how to design appropriate behavior-based control is rather challenging especially when control, sensor signal, and model constraints need to be considered all together. With this, a control infrastructure embedding a fuzzy-based fusion scheme and well posed interaction with the environment is derived here for solving the problem. The proposed approach in this paper requires neither building of a map of the environment nor prior investigation of the system configuration under different environments given various WMR tasks. Finally, feasibility and robustness of this approach are well evaluated in extensive experiments.