Abstract
The aim of this paper is to carry out navigation task in an unknown environment with high density obstacles using an autonomous mobile robot. Fuzzy logic approach is used for the robot planning because the output varies smoothly as the input changes. If the navigation environment contains one or more obstacles the robot must be able to avoid collisions. The robot uses the obstacle avoidance controller in order to reach the final destination safely without collision with these objects. The robot moves toward the goal and when an obstacle is detected in one of the three sides (front, left, right) the obstacle avoidance behavior is activated to generate the appropriate actions for avoiding these collisions. Key words: Robot navigation, robot exploration, goal seeking.
Highlights
There is growing interest in applications of mobile robots.This is due to the fact that the robots are finding their way out of sealed working stations in factories to our homes and to populated places such as museum halls, office buildings, railway stations, department stores and hospitals (Shuzhi and Lewis, 2006)
Mobile robots have been the object of many researchers over the last few years in order to improve their operational capabilities of navigation in an unknown environment which consist of the ability of the mobile robot to plan and execute a collision-free motion within its environment
The path planning in an unknown environment depends on the different sensory systems which provide a global description of the surrounding environment of the mobile robot; this description might be associated with imprecision and uncertainty
Summary
Mobile robots have been the object of many researchers over the last few years in order to improve their operational capabilities of navigation in an unknown environment which consist of the ability of the mobile robot to plan and execute a collision-free motion within its environment. This environment may be imprecise, complex and either partially or non-structured (Janglova, 2004). The path planning in an unknown environment depends on the different sensory systems (cameras, sonar, etc.) which provide a global description of the surrounding environment of the mobile robot; this description might be associated with imprecision and uncertainty.
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