NAVIGATION METHOD FOR A MOBILE ROBOT USING A FUZZY BASED METHOD - SIMULATION AND EXPERIMENTAL ASPECTS

This paper introduces a new method for real-time navigation planning through an unknown obstacle field for a mobile robot. A two-dimensional array is used to rapidly model the local free environment. This array is continuously updated with an on-board range of ultrasonic sensors. The information allows the robot to immediately compute the motion by applying a navigation algorithm, composed of three modules whose functions are to avoid obstacles, to reach the target point, and to manage direction changing of the mobile robot during path planning. The first two actions are realized using a method based on fuzzy reasoning. The new approach is tested by simulation and by experimentation on a real robot; the obtained results show the efficiently of the method.