A Behavior-Based Fuzzy Control System for Mobile Robot Navigation: Design and Assessment

Juan Pablo Vásconez, Mailyn Calderón-Díaz, Inesmar C. Briceño, Jenny M. Pantoja, Patricio J. Cruz

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

Decreasing the number of robot navigation accidents due to slow robot reaction times is still an important research topic. This paper proposes a methodology based on a behavior-based fuzzy control scheme for the path planning of a simulated mobile robot. The behaviors are designed based on fuzzy logic and are integrated to switch between them when necessary during navigation in narrow and unknown environments. To test the proposed methodology, we build a simulation environment in which a mobile robot can navigate in straightforward or curved scenarios by using only a Lidar sensor and the proposed behavior-based control scheme. We tested experiment conditions for each scenario, and we evaluated the performance of the vehicle by analyzing the minimum avoidance distance from the obstacles. The simulation results demonstrate that the proposed methodology can be used for a mobile robot to react fast enough to successfully avoid obstacles when navigating in narrow and unknown environments at different velocities.

Original languageEnglish
Title of host publicationAdvanced Research in Technologies, Information, Innovation and Sustainability - 3rd International Conference, ARTIIS 2023, Proceedings
EditorsTeresa Guarda, Filipe Portela, Jose Maria Diaz-Nafria
PublisherSpringer Science and Business Media Deutschland GmbH
Pages412-426
Number of pages15
ISBN (Print)9783031488573
DOIs
Publication statusPublished - 2024
Event3rd International Conference on Advanced Research in Technologies, Information, Innovation and Sustainability, ARTIIS 2023 - Madrid, Spain
Duration: 18 Oct 202320 Oct 2023

Publication series

NameCommunications in Computer and Information Science
Volume1935 CCIS
ISSN (Print)1865-0929
ISSN (Electronic)1865-0937

Conference

Conference3rd International Conference on Advanced Research in Technologies, Information, Innovation and Sustainability, ARTIIS 2023
Country/TerritorySpain
CityMadrid
Period18/10/2320/10/23

Keywords

  • Behavior-based control
  • Fuzzy logic
  • Mobile robot
  • Path planning

ASJC Scopus subject areas

  • General Computer Science
  • General Mathematics
  • Control and Systems Engineering

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