An Approach in Designing Hierarchy of Fuzzy Behaviors for Mobile Robot Navigation
Long Thanh Ngo*, Long The Pham*, Phuong Hoang Nguyen**,
and Kaoru Hirota***
*Center of Simulation Technology, Le Quy Don Technical University, 100-Hoang Quoc Viet Rd., Cau Giay Dist., Hanoi, Vietnam
**Center of Health Information Technology, Ministry of Health, 3-Phuong Mai St., Dong Da Dist., Hanoi, Vietnam
***Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, G3-49, 4259 Nagatsuta, Modori-ku, Yokohama 226-8502, Japan
We propose an approach to the design hierarchical behaviors for mobile robot navigation in which robot perceives information about the environment from sensor then computes fuzzy output for individual behavior. Each behavior involves a fuzzy controller with the same output. The behavior hierarchy combines commands from fuzzy behavior output and defuzzifies it to archive crisp values for controlling the direction in which robot moves. Simulation results and statistics demonstrate the feasibility of our proposal.
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