@inproceedings{fa977144a5884926aaf1a752d845af73,
title = "A Behavior-Based Fuzzy Control System for Mobile Robot Navigation: Design and Assessment",
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.",
keywords = "Behavior-based control, Fuzzy logic, Mobile robot, Path planning",
author = "V{\'a}sconez, {Juan Pablo} and Mailyn Calder{\'o}n-D{\'i}az and Brice{\~n}o, {Inesmar C.} and Pantoja, {Jenny M.} and Cruz, {Patricio J.}",
note = "Publisher Copyright: {\textcopyright} 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 3rd International Conference on Advanced Research in Technologies, Information, Innovation and Sustainability, ARTIIS 2023 ; Conference date: 18-10-2023 Through 20-10-2023",
year = "2024",
doi = "10.1007/978-3-031-48858-0_33",
language = "English",
isbn = "9783031488573",
series = "Communications in Computer and Information Science",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "412--426",
editor = "Teresa Guarda and Filipe Portela and Diaz-Nafria, {Jose Maria}",
booktitle = "Advanced Research in Technologies, Information, Innovation and Sustainability - 3rd International Conference, ARTIIS 2023, Proceedings",
address = "Germany",
}
