Behavior-based navigation of multiple robotic agents using hybrid-fuzzy controller

This paper is concerned about the problem of uncertainty and ambiguity associated with reactive navigation for multiple mobile agents in unpredictably changing environment. Reactive navigation technique can be defined as a mapping between the input fuzzy sets representing the mobile robot state space determined by sensor readings and the output fuzzy sets representing mobile robot action space during safe navigation on partially known static terrains. In this work, we briefly present the hardware and kinematic architecture of mobile robot and attention is focused on the design, coordination and fusion of the elementary behaviors and also interaction between robotic agents. The simulation results demonstrate that the hybrid fuzzy-petrinet system enables multiple robots to roam freely searching for and successfully finding targets in cluttered environment, containing obstacles, without hitting the obstacles or one another.