Method of gap combined with fuzzy logic controller designed for mobile robot navigation

Abstract

The problem of mobile robot navigation and obstacle collision is treated in this paper. We have proposed an algorithm which combines a method based on gap identification and a fuzzy control law. This strategy can deal with the cluttered environment. In fact, the suggested approach allows to find the most suitable free gap between obstacles in order to generate an optimal path to reach the target. The simulations made using this method have shown its validity and efficiency compared with previous works.