Optimal trajectory of a mobile robot using hierarchical fuzzy logic controller

Abstract

This paper presents the development of a complete navigation problem of an autonomous mobile robot. The problem for which the robot tries to reach the target is treated using a hierarchical fuzzy logic controller HFLC. The optimisation of the consequences of fuzzy rules is solved using genetic algorithms. A new approach based on HFLC is presented in this paper to avoid collisions with obstacles. In fact, HFLC consists of a number of low-dimensional standard fuzzy systems connected in a hierarchical fashion. Hence, it can provide a good candidate for solving high-dimensional problems. Simulation results show that the designed hierarchical fuzzy controller gives good trajectory of the robot from its current position to the target with obstacle avoidance.