International Journal of
Physical Sciences

  • Abbreviation: Int. J. Phys. Sci.
  • Language: English
  • ISSN: 1992-1950
  • DOI: 10.5897/IJPS
  • Start Year: 2006
  • Published Articles: 2572

Full Length Research Paper

Behavior architecture controller for an autonomous robot navigation in an unknown environment to perform a given task

Jasmine Xavier A.
  • Jasmine Xavier A.
  • Jayaraj Annapackiam CSI College of Engineering, Anna University, Chennai, Tamil Nadu India.
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Shantha Selvakumari R.
  • Shantha Selvakumari R.
  • Mepco Schlenk Engineering College, Anna University, Chennai, Tamil Nadu India.
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  •  Received: 05 December 2014
  •  Accepted: 27 January 2015
  •  Published: 16 March 2015

Abstract

The aim of this paper is to carry out navigation task in an unknown environment with high density obstacles using an autonomous mobile robot. Fuzzy logic approach is used for the robot planning because the output varies smoothly as the input changes. If the navigation environment contains one or more obstacles the robot must be able to avoid collisions. The robot uses the obstacle avoidance controller in order to reach the final destination safely without collision with these objects. The robot moves toward the goal and when an obstacle is detected in one of the three sides (front, left, right) the obstacle avoidance behavior is activated to generate the appropriate actions for avoiding these collisions.

 

Key words: Robot navigation, robot exploration, goal seeking.

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This article is published under the terms of the Creative Commons Attribution License 4.0

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