Autonomous navigation of a mobile robot in unknown environment based on fuzzy inference

摘要

This paper presents a navigation problem for an autonomous mobile robot in an unknown environment. The environment which contains various types of obstacles is completely unknown for the robot and the surrounding information should be detected all by the proximity sensors installed on the robot's body. In order to guide the robot to move along a collision-free path and reach the goal position quickly, a navigation method based on fuzzy inference system has been developed. Here, the obstacles are assumed static and both regular and irregular types of obstacles are investigated. In the case of path-dead-end problem, a wall following method is also proposed in this paper. Simulation results demonstrate that the proposed method has a great potential for the navigation problem.