A novel intelligent technique for mobile robot navigation

摘要

In this paper, we develop and implement a novel navigation algorithm for a mobile robot system combining a fuzzy-logic architecture with a Virtual Centrifugal Effect Algorithm (VCEA). The resulting navigation system endows the robot with the ability of negotiating an approaching obstacle, thus leading to a graceful and smooth avoidance behavior in a dynamic environment. This navigation system has been implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented which demonstrate the effectiveness of the proposed algorithm.