{"title":"Behavior-based mamdani fuzzy controller for mobile robot wall-following","authors":"Xiao Li, Dandan Wang","doi":"10.1109/ICCAR.2015.7166006","DOIUrl":null,"url":null,"abstract":"Most of the researches on mobile robot wall-following problem are focused on straight or continuous smooth wall-following cases. This paper proposes a behavior-based fuzzy controller for multi-type-wall following. The fuzzy controller provides an information fusion mechanism for combining sensor data from all laser range finder sensors. The behavior-based approach is implemented as a coordinator to manage the switching among various behaviors to solve the multi-type-wall following problem. The simulation results demonstrate that the mobile robot can follow the wall with convex corner and concave corner.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 International Conference on Control, Automation and Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCAR.2015.7166006","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 10
Abstract
Most of the researches on mobile robot wall-following problem are focused on straight or continuous smooth wall-following cases. This paper proposes a behavior-based fuzzy controller for multi-type-wall following. The fuzzy controller provides an information fusion mechanism for combining sensor data from all laser range finder sensors. The behavior-based approach is implemented as a coordinator to manage the switching among various behaviors to solve the multi-type-wall following problem. The simulation results demonstrate that the mobile robot can follow the wall with convex corner and concave corner.
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