Adaptive robot control technique for dynamic environments

Abstract

This paper presents the technique of adaptive robot control for dynamic environments. The technique is designed for low cost sensors that make the developed system applicable for economic models of robots. This approach is based on the hierarchy method of robot control, that came from behavior based robotics. For detection of moving objects we use ultrasonic-infrared sensor detection approach and obstacle objects grid mapping. Low-level robot control behaviors based on fuzzy logic. Experiments were carried out on the simulation exhibition model. The result is successful in substitute high-end sensors on low cost with implementation of adaptive behavior control algorithms. The developed technique was implemented on real Robot-Guide, that was created in the BrSTU – Robotics student laboratory of Brest State Technical University