Navigation of Autonomous Robotic Vehicles Using Fuzzy Logic

A general fuzzy logic control framework along with its application specific modifications is presented to support, evaluate and justify the proposed perspective to unmanned vehicle autonomous navigation. The paper discusses successful applications of collision free motion control of ground, aerial and underwater unmanned vehicles navigation. The common characteristic in all applications regardless of the type of vehicle is the navigation architecture used. Experimental and simulation results are included to validate and support the implemented techniques and approaches. A comparison of classical and soft computing based controllers, designed to control an underwater vehicle provides additional evidence of the usefulness and applicability of fuzzy logic as a viable alternative to using analytic approaches, and as a modeling tool that deals with real life ill-defined problems.