This paper introduces a new integrated open-architecture platform for mobile robot simulation, controller design and real-time implementation - MobLib. The proposed system provides not only a user-friendly simulation and educational plati'orm but also an open architecture, control system development environment for real-time control of mobile robot systems. Besides the built-in control algorithms, this environment also enables the user to integrate user specified robots, control algorithms and trajectory planning schemes into the system. Tue focus of this work was on the application of fuzzy logic techniques to the design and implementation of basic navigation behaviors, and to the combination of basic behaviors to form complex behaviors to execute full navigational plans. For this, suitable simulation and real time evolution environments are needed.
real-time control of complex systems, fuzzy control, mobile robots
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