Design and implemention of a simple fuzzy algorithm for obstacle avoidance navigation of a mobile robot in dynamic environment

摘要

In this paper we propose a simple fuzzy controller for obstacle avoidance of mobile robot navigation. The most important aspect of this method is its simplicity and efficiency. The other important features of the proposed method are; smooth navigation due to the selected type of membership functions, and capability for pursuing dynamic target. The proposed method along with simple proposed fuzzy approach is compared to the potential field method for robot navigation. The proposed fuzzy acts better than potential field method. Simulation and implementation of the mentioned approaches are done for the Khepera II mobile robot. Results show the effectiveness and high performance of this new algorithm, hi addition, by using this proposed fuzzy method the robot reaches its target in a shorter time compared to the potential field method.