A quick intelligent control system for a mobile robot to avoid collision with moving obstacles

This paper proposes a concept of initial minimum safety spacing (IMSS) for a robot to avoid the collision with moving obstacles from any direction. A quick intelligent control system based on IMSS to avoid the collision is presented. In the system, the necessary deceleration and steering can be predicted using the fuzzy reasoning, which only needs to input one variable of the collision danger degree judged according to IMSS. So, the membership functions and the fuzzy rules are very simple, the calculation time for the avoidance is reduced. These advantages are verified by the numerical simulation results.