Application of fuzzy decision making in mobile robot navigation in dynamic environments

摘要

This paper presents a modified sensor-based online method for mobile robot navigation generating paths in dynamic environments. The intelligent part of the algorithm is a Fuzzy Decision Maker (FDM) which enables the robot to do both the guidance-based tracking algorithm and the obstacle avoidance simultaneously. The output of FDM is a weighted combination of velocity vectors generated by velocity obstacle algorithm and guidance based tracking algorithm. The results prove that the robot can track a moving target while maneuvering safely in dynamic environment and avoids stationary and moving obstacles.