A highly parallel method for mapping and navigation of an autonomous mobile robot

Abstract

The paper presents a highly parallel method for mapping and navigation. The mapping module is based on the fuzzy logic aggregation scheme. Path planning is made using the diffusion method. The algorithm can be applied for any kind of sensors. The experiments show not only the ability of the robot to achieve collision free path towards the goal in the explored environment but also in area not visited before. We applied the fuzzy controller to compute parameters (velocity, acceleration, etc.) of the robot motion.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>