Hybrid Deliberative Reactive Navigation System for Mobile Robots Using ROS and Fuzzy Logic Control

Elvis Ruiz, Raul Acuna, Pedro Velez, Gerardo Fernández-López

Abstract: Autonomous navigation involves solving problems of perception, localization, planning and control. Based on how these problems can be solved it is possible to have a deliberative, reactive or deliberative-reactive (hybrid) navigation. Additionally, navigation must meet security requirements for both the robot and humans operating in the same workspace. Thus, a navigation system for differential hybrid mobile robots in structured environments was designed, which integrates the advantages of a high level deliberative planner with a reactive low-level control and easing some of its weaknesses. For this, a fuzzy logic controller was implemented. The proposed system was tested with a simulated robot Amigobot with a Kinect sensor using V-REP and ROS.