OBSTACLE AVOIDANCE FUNCTION USING A REACTIVE FUZZY CONTROLLER FOR AUTONOMOUS MOBILE ROBOT

Abstract

Obstacle avoidance is one of the function of autonomous navigation for mobile robots. The potential field method is efficacious with the good results it returns; this method has undergone considerable improvements as its extension to the size of obstacle and robot, but provides a disadvantage that is the rigorous local minima. The idea of our fuzzy approach is to keep the specificity of this model at treatment from a distance of the obstacle.