A reactive approach for mobile robot navigation in static and dynamic environment using fuzzy logic control

Abstract

This paper presents a new control method for a safe navigation of mobile robot. The proposed control strategy adopts the principle of safe sector in the vector field histogram (VFH) method. It consists of directing the robot heading towards a safe vacant interval if there are obstacles, or to the target direction when the environment does not contain obstacles. A fuzzy controller is used for the robot guidance to the desired direction. The proposed navigation algorithm is available for static and dynamic environments. It is quite simple to understand and to implement. The efficiency of the proposed control approach is proved through simulation results using MATLAB and the virtual environment Webots.