Fuzzy logic controller for mobile robot navigation to avoid dynamic and static obstacles

Abstract

This paper addresses the problem of mobile robots navigation in static and dynamic environment. The proposed navigation method is inspired from the VFH (Vector Field Histogram) method: it adopts the principle of safe sectors, but simplifies the configuration space representation. It consists on directing the robot heading towards a desired direction allowing to reach the target or to avoid obstacles. The proposed control law uses a SI|SO fuzzy logic system. This method is characterized by its simplicity to implement and its low computational time. The validity of this approach is proved through simulation results.