Fuzzy-based Reactive Controllers for a Simple Goal Seeking and Obstacle Avoidance by a Mobile Robot in unknown Environment

Abstract

This paper deals with the reactive control of an autonomous mobile robot which should move safely in a crowded unknown environment to reach a desired goal. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, issues of individual behavior design will be addressed using fuzzy logic approach. Simulation results show that the designed fuzzy controllers achieve effectively any movement control of the robot from its current position to its end motion and without any collision.