Behaviour based Mobile Robot Navigation Technique using AI System: Experimental Investigation on Active Media Pioneer Robot

<div>A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a) Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system &nbsp;(b) Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c) Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables.</div><div><br /></div><div>Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior