Generic system architecture for behavior-based mobile robot control using fuzzy logic

This paper presents a modular architecture for behavior-based mobile robot control systems using fuzzy logic. The behaviors are functionally classified into two separated modules concerning collision-free motion control and goal-oriented path planning using topological maps. The applied fuzzy logic approach allows flexible and robust behaviors and behavior design in complex environments. The performance of the system is tested and demonstrated successfully through experiments in a real office environment using a qualitative bio-inspired optical flow perception.