Abstract
A behavior based fuzzy control for two-wheeled mobile robot with navigation is considered. Solving the problem of avoiding obstacles inevitably becomes an important task of robotics in case of impossibility to calculate the trajectory before the start of its movement, or unforeseen changes in the working environment, or in the absence of information on the exact location of obstacles. A problem can be interpreted as a requirement for robot`s movement from a starting point to the given target avoiding the obstacles, reaching the target in the shortest time, avoiding trapping. Getting from an initial position and cruising to the next position is under closed-loop control. A mobile robot should stop at the target within a very small position error. For coordination of these behaviors a multi-objective techniques was applied. A selection from a set of behaviors was represented as vector optimization problem. Behaviors are selected as Pareto optimal solutions, using lexicographic method.
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Zeinalova, L.M., Jafarov, B.O. (2022). Mobile Robot Navigation with Preference-Based Fuzzy Behaviors. In: Aliev, R.A., Kacprzyk, J., Pedrycz, W., Jamshidi, M., Babanli, M., Sadikoglu, F.M. (eds) 11th International Conference on Theory and Application of Soft Computing, Computing with Words and Perceptions and Artificial Intelligence - ICSCCW-2021. ICSCCW 2021. Lecture Notes in Networks and Systems, vol 362. Springer, Cham. https://doi.org/10.1007/978-3-030-92127-9_102
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DOI: https://doi.org/10.1007/978-3-030-92127-9_102
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