Esquema de coordinación y fusión de comportamientos basado en factores de ponderación dinámicos difusos para la navegación de un robot móvil (Coordination Scheme and Behavior Fusion Based on Fuzzy Weighting Factors for a Mobile Robotic Navigation)

Orlando Zapata Cortes (orlandozapata316@gmail.com)2, Gustavo Alonso Acosta Amaya (gaacosta@elpoli.edu.co)1, Jovani Alberto Jiménez Builes (jovani.jimenez@gmail.com)2


1Politécnico Colombiano Jaime Isaza Cadavid
2Universidad Nacional de Colombia

This paper appears in: Revista IEEE América Latina

Publication Date: Jan. 2015
Volume: 13,   Issue: 1 
ISSN: 1548-0992


Abstract:
This paper presents a behavior fuzzy coordination scheme for a mobile robot platform. The control architecture is composed of three basic behaviors: obstacle avoidance, left wall following and left wall following. The mechanism of fusion behavior was performed on a weighting system that acquires information from the environment and calculates fuzzy dynamic weighting factors adjusted to the region in which the robot travels. These factors influence the output of each behavior giving strength to the most appropriate action according to the current situation of the environment. Subsequently, the weighted outputs of each behavior are normalized by the command fusion, achieving a cooperative solution to meeting the robot navigation target.

Index Terms:
fuzzy control, behavior based fuzzy control architecture, mobile robotic, obstacle avoidance, tracking behavior, behavior coordination, artificial intelligence   


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