Abstract

In this paper, we proposed a fuzzy inference model for navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using sensor fusion, based on situational command using an ultrasonic sensor. Instead of using “physical sensor fusion” method which generates the trajectory of a robot based upon the environment model and sensory data, “command fusion” method is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.

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