Collision Avoidance Control among Moving Obstacles for a Mobile Robot on the Fuzzy Reasoning

Abstract

This paper presents a collision avoidance method for a mobile robot which applied fuzzy reasoning and production rules. In the first step of this method, a mobile robot recognizes the static and dy namic degree of danger between a robot and an obstacle by the fuzzy reasoning. In the second step, using the degree of danger a mobile robot decides the direction of avoidance by the decision table. This method can realize the heuristic avoidance among moving obstacles for a mobile robot. Some results of computer simulation are shown to prove the effectiveness of this method proposed in this paper.