Fuzzy Behavior-based Control of Three Wheeled Omnidirectional Mobile Robot

In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot (TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors " Track the Target” and " Avoid Obstacles and Wall Following” are considered based on reduced rule bases (six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.