Fuzzy Control System for Autonomous Navigation of Thymio II Mobile Robots

Abstract

This paper treats the autonomous navigation problem of robotic systems in a dynamic and uncertain environment. In particular, we are interested in determining the robot motion to reach the target while ensuring their own safety and that of different agents that surround it. To achieve these goals, we have adopted a fuzzy controller for navigation and avoidance obstacle, taking into account the changing nature of the environment. The approach has been tested and validated on a ThymioII robots set. As application field, we have chosen a parking problem..