A method of autonomous mobile robot navigation by using fuzzy control

It is necessary for an autonomous mobile robot (AMR) to describe schemes of monitoring the status and procedures of suitable processes. This paper presents a sensor-based navigation method using fuzzy control, of which the purpose is to construct an expert knowledge for efficient and better piloting of AMR. This method provides a function of tracing a planned path by sensing distances of an AMR and its difference angle from the planned path, and a function of avoiding stationary and moving obstacles by sensing free area distances ahead of the AMR. Fuzzy control is also used to select suitable rules (tracing a path/avoiding obstacles) according to a situation, which is derived from sensor information by using fuzzy control. The effectiveness of established rules and the effect of fuzzy control on AMR navigation is discussed through simulations. © 1994 Taylor & Francis Group, LLC.