Behavior-based Fuzzy Control for Indoor Cleaning Robot Obstacle Avoidance Under Dynamic Environment

This paper describes an indoor cleaning robot coverage path to avoid obstacle based on behavior fuzzy controller under dynamic environment. The robot measures the distance between the robot and obstacle with ultrasonic sensors and infrared range sensors. The behavior architecture has three levels behaviors: emergency behavior, obstacle avoidance behavior, and task oriented behavior. The task oriented behavior is the highest level behavior with the lowest priority, and has two subtasks: wall following and path covering. The middle level behavior is obstacle avoidance. And the lowest level is an emergency behavior with the highest priority behavior. The simulation results demonstrate that each behavior works correctly.