This repository implements a behavior-based control strategy for collision-free navigation of a two-wheel differential drive robot in partially known environments. It features a hierarchical design with Mamdani fuzzy logic for high-level control and Lyapunov stability theory for low-level control. The system uses subgoals in the behavioral space to guide the joint space controller, improving path smoothness and efficiency. The implementation was tested using CoppeliaSim with various scenarios to validate its effectiveness compared to previous methods.
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- Low-level control layer
- Lyapunov Controller
- Controller gains tuning
- High-level control layer
- Sensor arrangement
- Basic behaviors
- In silico tests
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