F. Abdessemed (France), K. Benmahammed (Algeria), and E. Monacelli (France)
Mobile-Robot, Evolutionary Programming, Obstacle Avoidance, Fuzzy Controller, Fuzzy-Image
This paper presents the theoretical development of a complete navigation problem for use in an autonomous mobile robot. The situation for which the vehicle tries to reach the end point is treated by using a fuzzy logic controller. The problem of extracting the optimized If-Then rule base is solved using an evolutionary algorithm. A new approach using fuzzy concepts is presented in this paper to avoid any collision with the surrounding environment when this latter becomes relatively complex. Simulation results show that the designed fuzzy controller achieves effectively movement control of the vehicle from its current position to its end motion and without collision.
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