Abstract
This paper presents a simple fuzzy control system for a robot to avoid collision with moving obstacles during its moving to a goal. In the system, the judgment of collision danger degree is based on the relationship between real distance from the robot to the moving obstacle and the initial minimum safety spacing, which depends on the velocities and the relative positions of the robot and the obstacle. The velocity and the steering for avoiding the collision are navigated with fuzzy control by only one input function of danger degree. So, the number of membership functions and fuzzy rules are decreased, the calculation time for real-time obstacle avoidance is reduced, and a quick response can be achieved.
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