FUZZY-LOGIC BASED COLLISION-AVOIDANCE FOR A MOBILE ROBOT

Navigation and collision avoidance are major areas of research in mobi le robotics that involve varying degrees of uncertainty. In general, t he problem consists of achieving sensor based motion control of a mobi le robot among obstacles in structured and/or unstructured environment s with collision-free motion as the priority. A fuzzy logic based inte lligent control strategy has been developed here to computationally im plement the approximate reasoning necessary for handling the uncertain ty inherent in the collision avoidance problem. The fuzzy controller w as tested on a mobile robot system in an indoor environment and found to perform satisfactorily despite having crude sensors and minimal sen sory feedback.