Abstract
The automatic reaction of a mobile robot, computed in real time during its movement towards a target, in an open field with obstacles present, is dealt with in this paper. Two types of reaction strategies are worked out, based on human experience, and reaction rules governing the system behavior are synthesized corresponding to the different situations defined by the obstacle position, the target orientation and the robot's direction of movement. Navigation control of the robot is then realized through fuzzy reasoning of the above heuristic rules. Sensed ranging and relative target position signals are input to the controller, while a steering output is inferred to drive the mobile robot. The processes of fuzzy reaction are described in terms of information flow, including fuzzification, inference, aggregation and defuzzification. Simulation results of a mobile robot avoiding unknown obstacles are given to demonstrate the effectiveness of the approach presented.
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