Autonomous mobile robot navigation coupling fuzzy logic and reactive DVZ 3D obstacle avoidance control

Abstract

This paper deals with the reactive control of an autonomous mobile robot which should move safely in a unknown three-dimensional(3D) environment to reach a desired goal. In order to proceed with the problem, we propose a hybrid approach based on fuzzy logic controller (FLC) for goal seeking behavior and Deformable Virtual Zone (DVZ) reactive algorithm to address 3D obstacles avoidance. We suggest a practical solution to combine both controllers. The proposed approach has been successfully tested in different configuration on simulation.