Simulation of Mobile Robot Navigation Using the Distributed Control Command Based Fuzzy Inference

This paper propose simulation results of navigation for a mobile robot with an active camera, which is intelligently searching the goal location in unknown dynamic environments using sensor fusion, data that is usually required in real-time mobile robotics or simulation. Instead of using "physical sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data. In this paper, "command fusion" method is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a distributed control command technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.