Behavior-Based Navigation Using Heuristic Fuzzy Kohonen Clustering Network for Mobile Service Robots

10.30000/IJFS.201003.0003

Ching-Chih Tsai；Chin-Cheng Chen；Cheng-Kain Chan；Yi Yu Li

Behavior Navigation ； fuzzy Kohonen clustering network FKCN ； Mobile robot ； Omnidirectional

International Journal of Fuzzy Systems

12卷1期（2010 / 03 / 01）

25 - 32

英文

This technical note presents a behavior-based navigation method for a mobile service robot with a three-wheeled omnidirectional mobile platform. A heuristic fuzzy Kohonen clustering network (FKCN) is presented to obtain laser area weights and desired robot motion heading for all types of indoor environments. An efficient behavior-based navigation structure is then proposed to merge the heuristic FKCN with three fuzzy behaviors in order to navigate the robot without any collisions in crowded and cluttered indoor environments. Simulation and experimental results are conducted to verify the feasibility and effectiveness of the proposed method.