A fuzzy-based reactive controller for a non-holonomic mobile robot
This paper presents the theoretical development of a complete navigation problem of an autonomous mobile robot. The situation for which the vehicle tries to reach the endpoint is treated using a fuzzy logic controller. The problem of extracting the optimized IFTHEN rule base is solved using an evolutionary algorithm. A new approach based on fuzzy concepts is presented in this paper to avoid any collision with the surrounding environment when this latter becomes relatively complex. Simulation results show that the designed fuzzy controller achieves effectively any movement control of the vehicle from its current position to its end motion and without any collision.
mobile robot fuzzy controller evolutionary programming obstacle avoidance