Abstract
Real-time fuzzy reactive control is investigated for automatic navigation of an intelligent mobile robot in an unknown and changing environment. The reactive rulebase governing the robot behavior is synthesized corresponding to the various situations defined by the instant robot motion, environment and target information. Navigation control of the robot is realized through fuzzy coordination of all the rules. Sensed ranging and relative target position signals are input to the fuzzy controller while the steering angle and the velocity change are inferred to drive the mobile robot. For the robot to efficiently tackle unwanted local trapping and oscillation problems, a real/virtual target switching strategy is presented to serve as a preprocessor for the proposed fuzzy reactive controller. Simulation and experimental results are presented to validate the approach.
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