Mobile Robot Active Routing Navigation Based on Fuzzy Behavior Decision-making

The robot's behavior is a passive response process in the traditional robot navigation, which easily makes the robot's behavior “lack of planning”. This paper proposes an active routing navigation strategy to solve this problem, analogying with the process of human way-finding in an unknown environment. Mobile robot's behavior is based on fuzzy decision. First, the optimal intermediate goal is determined by using the visible point in the robot local sensing region. Then, the souronding of the robot is determined by analyzing the sensing environmental information and the optimal intermediate goal.Finally, based on the proposed fuzzy controller, the output control information is obtained to control the robot's behavior, enabling the robot to avoid obstacles and escape from semi-enclosed area and finally reach the ultimate goal. The feasibility and effectiveness of the proposed strategy is verified by simulation.