A Fuzzy System for Indoor Mobile Robot Navigation

 An autonomous mobile robot (AMR) has to cope with uncertain, incomplete or approximate information. Moreover it has to identify sudden perceptual situations to manoeuvre in real time. This paper describes a fuzzy rule based system (FRBS) approach controlling the movement of an autonomous mobile robot (MORIA). Difficult guiding and controlling properties of the robot are achieved by combining local actions and global strategies within the fuzzy controller. Different behaviors and perceptions are detected with the help of fuzzy rules and stored in fuzzy state variables (FSV). These state variables activate different fuzzy rule sets which in turn change the behavior of the fuzzy controller. robot are achieved by the combination of local actions, e.g. avoiding obstacles, and linguistic instructions, e.g. turning left at the next junction. This paper is structured as follows. In the next section we present the new algorithm which is based on a first order FRBS. In the third section we describe the control architecture of the robot MORIA. The robot behavior on an example situation is presented in section four. The last section summarizes with concluding remarks. II. BASIC TERMS OF FUZZY RULE BASED SYSTEMS As shown by Castro [12] FRBSs are universal approximators , i.e.: