A behavior-based controller for a mobile robot tracking a moving target in multi-obstacles environment

作者：Benbouabdallah, Karim; Zhu, Qi Dan

来源：2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2013, China,Sichuan,Luzhou,Hejiang, 2013-08-26 to 2013-08-27.

DOI：10.1109/IHMSC.2013.247

• Autonomous Mobile Robot
• Behavior-based
• Behavior-based control
• Control objectives
• Fuzzy logic control
• Lyapunov-based control
• Obstacle avoidance behaviors
• Simple behaviors

Target tracking and obstacle avoidance are the most challenging tasks for an autonomous mobile robot moving in unknown environments. This paper presents a simple behavior-Based control strategy that enables a mobile robot to track a moving target along an unknown trajectory in a multi-obstacles environment. The proposed controller includes two behaviors: a target tracking behavior which is designed using the Lyapunov-Based control technique and an obstacle avoidance behavior designed with fuzzy logic control. Then, a fusion arbitration behavior is developed to combine the two behaviors'outputs to compute both linear and angular velocities of the mobile robot in order to regulate its current perceptual state to fulfill the control objectives successfully. Simulation results illustrate that the proposed approach is efficient and effective and leads to good performances of tasks'navigation.

• 出版日期2013
• 单位哈尔滨工程大学