Title: Behaviour rule selection using alpha-level FIS for mobile robot navigation during multiple rule conflicts in complex environments

Authors: S. Parasuraman, Velappa Ganapathy, Bijan Shirinzadeh

Addresses: School of Engineering, Monash University, No. 2, Jalan Kolej, Bandar Sunway, Selangor Darul Ehsan, Malaysia. ' School of Engineering, Monash University, No. 2, Jalan Kolej, Bandar Sunway, Selangor Darul Ehsan, Malaysia. ' Monash University, Clayton, Victoria, Australia

Abstract: A common problem in robot navigation is behaviour rule selection when more than one action of the same type is available. Here action selection or decision-making procedure incorporating α-level fuzzy logic is discussed and used for selecting an appropriate action during mobile robot navigation. In the present approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of optimising behaviour rules without decreasing the input space and resolved the conflicts similar to human thinking. This paper presents the mathematical aspects of resolving conflicts when more than one context rule of the same kind is in action. Simulation results are presented based on the real life situation. The techniques presented in this paper are validated by conducting real world experiments using Khepera miniature Robot.

Keywords: fuzzy logic; α-fuzzy set; fuzzy membership function; behaviour rules; mobile robots; robot navigation; behaviour conflicts; Khepera II; rule selection; rule conflicts; simulation.

DOI: 10.1504/IJAAC.2007.015847

International Journal of Automation and Control, 2007 Vol.1 No.4, pp.358 - 376

Published online: 25 Nov 2007 *

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