John Yen and Nathan Pfluger
One of the key issues in mobile robot navigation is coping with uncertainty in a dynamic environment. One possible solutions lies in behaviors, but there is a problem with standard behavior arbitration techniques. To combat this problem, David Payton introduced a command arbitration net that minimizes the loss of information between behaviors. We have extended his approach using fuzzy logic. Some benefits of using fuzzy logic include simplicity, extensibility and understandability, especially in the area of sensor fusion.