FUZZY NAVIGATION STRATEGY - APPLICATION TO 2 DISTINCT AUTONOMOUS MOBILE ROBOTS

Most motion controls of mobile robots are based on the classical schem e of planning-navigation-piloting. The navigation function, the main p art of which consists in obstacle avoidance, has to react with the sho rtest response time. The real-time constraint hardly limits the comple xity of sensor data processing. The described navigator is built aroun d fuzzy logic controllers. Besides the well-known possibility of takin g into account human know-how, the approach provides several contribut ions: a low sensitivity to erroneous or inaccurate measures and, if th e inputs of the controllers are normalised, an effective portability o n various platform. To show these advantages, the same fuzzy navigator has been implemented on two mobile robots. Their mechanical structure s are close, except for size and the sensing system.