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 IF-THEN 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 front its current position to its end motion and without any collision. (C) 2004 Elsevier B.V. All rights reserved.