A Goal-Oriented Approach to Robot Way-Finding in Environments with Local Dead-Ends
نویسندگان
چکیده
A new behavior-based method is proposed for way-finding of a mobile robot in unknown environments with dead-ends. A standard fuzzy logic (FL) algorithm directs the robot towards its target i.e.; actual or virtual, while avoiding obstacles by means of steering and velocity control. At top of the FL controller, a switching strategy is developed for virtually redirecting the target when the robot gets trapped in local dead-ends. The target shifting algorithm proved to direct the robot out from any type of traps e.g.; barriers forming simple corners, U-shape, snail shape, maze, and other complicated concave dead-ends. Trajectory results of a Pioneer robot are demonstrated using ActiveMedia Robotics simulator, and compared to other related works to prove the robustness of the proposed algorithm.
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