Robot navigation in very cluttered environments by preference-based fuzzy behaviors

  title={Robot navigation in very cluttered environments by preference-based fuzzy behaviors},
  author={Majura F. Selekwa and Damion D. Dunlap and Dongqing Shi and Emmanuel G. Collins},
  journal={Robotics Auton. Syst.},

Fuzzy based reactive navigational strategy for mobile agent

  • S. KunduD. Parhi
  • Computer Science
    2010 International Conference on Industrial Electronics, Control and Robotics
  • 2010
This paper deals with the navigational problem for autonomous mobile robot using reactive controller which is able to react to the environment appropriately during its navigation to avoid crashing

A fuzzy approach towards behavioral strategy for navigation of mobile agent

This paper demonstrates coordination and integration of reactive behaviors, as a key problem in autonomous navigational strategy for mobile robot, to avoid crashing with obstacles by turning to the

A Fuzzy Logic Method for Autonomous Robot Navigation in Dynamic and Uncertain Environment Composed with Complex Traps

A multi-agent simulation model of an autonomous robot that takes into account the reactivity and the anticipation of blocking situations in dynamic and uncertain environments by using only ultrasonic sensors is presented.


Action coordination of the robotic behaviors such as following a wall, avoiding an obstacle and running towards goal, have been addressed using proposed fuzzy technique which is found to be efficient and optimized for navigation purpose.

A Multi-agent Simulation Model Based on Fuzzy Logic to Predict Conflict Situations for Autonomous Robot Navigation

A multi-agent simulation model of an autonomous robot in dynamic and uncertain environments based on fuzzy logic technique in order to deal with the uncertainty of perception is presented.

Intelligent Fuzzy Logic based controller scheme for a mobile robot navigation

In this project, individual robot behaviors and their action coordination are addressed using fuzzy logic and it has been shown that the fuzzy model of the robot controller far outweighs the traditional algorithm based approach towards design of a robot control system.

Probabilistic Fuzzy Control of Mobile Robots for Range Sensor Based Reactive Navigation

A probabilistic fuzzy approach is proposed for mobile-robot reactive navigation using range sensors using range sensor data to create an integrated reactive navigation control system with good real-time performance under uncertainty.

A Reactive Anticipation for Autonomous Robot Navigation

This work focuses on navigation in dynamic environments, where either reactive systems (producing real time behaviour), deliberative systems (introduce reasoning and need much more time to calculate a suitable decision) or hybrid systems (combine deliberative and reactive approaches) have been used in order to attend a known goal.

New algorithm for behaviour-based mobile robot navigation in cluttered environment using neural network architecture

Purpose This study concerns an on-line path planning technique for a behaviour-based wheeled mobile robot local navigation in an unknown environment with hurdles, using the feedforward



Implementation of Multi-valued Fuzzy Behavior Control for Robot Navigation in Cluttered Environments

An architectural design of a fuzzy behavior based system for navigation control of robotic vehicles using multivalued reactive fuzzy behaviors is presented that allows the robot to thoroughly use the available sensor information when choosing the control action to be taken.

Behavior-based robot navigation on challenging terrain: A fuzzy logic approach

A new traverse-terrain behavior is introduced that uses the regional traversability index to guide the robot to the safest and the most traversable terrain region, which succinctly quantifies the ease of traversal of the regional terrain by the mobile robot.

Centralized fuzzy behavior control for robot navigation

  • M. SelekwaE. Collins
  • Computer Science
    Proceedings of the 2003 IEEE International Symposium on Intelligent Control
  • 2003
This paper presents a new method of designing fuzzy behavior control systems for robotic navigation that honors all behaviors and allows the behavioral fusion to be robust in the sense that under all circumstances, each behavior will be honored and the robot reactions will satisfy the requirements of each behavior.

A method of indoor mobile robot navigation by using fuzzy control

  • S. Ishikawa
  • Computer Science
    Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91
  • 1991
A sensor-based navigation method using fuzzy control, whose purpose is to construct expert knowledge for efficient and better piloting of the AMRs, is presented and the effectiveness of the established rules and the effect of fuzzy control on AMR navigation are discussed on the basis of simulations.

Fuzzy logic-based 'perception-action' behavior control of a mobile robot in uncertain environments

  • Wei Li
  • Computer Science
    Proceedings of 1994 IEEE 3rd International Fuzzy Systems Conference
  • 1994
The simulation results show that the proposed method, only using dynamic information acquired by ultrasonic sensors, can perform robot navigation in complex and uncertain environments by efficiently weighting reactive behaviors, such as obstacle avoidance, edge following, and moving to the target.

The vector field histogram-fast obstacle avoidance for mobile robots

A real-time obstacle avoidance method for mobile robots which has been developed and implemented is described. This method, named the vector field histogram (VFH), permits the detection of unknown

Local navigation strategies for a team of robots

This paper shows how robots navigating within an unknown environment with local communication capabilities (only line-of-sight communication is allowed) can cooperate by helping each other to achieve their own goals.

Fuzzy behavior fusion for reactive control of an autonomous mobile robot: MARGE

  • S. G. GoodridgeR. Luo
  • Computer Science
    Proceedings of the 1994 IEEE International Conference on Robotics and Automation
  • 1994
A distributed heterogeneous network of fuzzy control agents has been developed for reactive behavior-based control of an autonomous mobile robot This methodology allows the authors' vehicle, MARGE,

Steering fuzzy logic controller for an autonomous vehicle

  • N. HodgeM. Trabia
  • Engineering
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
A fuzzy logic controller for steering an autonomous vehicle toward a target is proposed that is divided into separate modules to mimic the way humans think while driving.