抄録
This paper proposes a concept of initial minimum safety spacing (IMSS) to avoid the collision between a robot and moving obstacles from any direction. A quick mtelligent control system based on the IMSS to avoid the collision is presented. In the system, the necessary deceleration and steering for avoiding the collision can be predicted using the fuzzy inference, which only needs to input one variable of the dangerous degree judged according to the IMSS. So, the membership functions and the fuzzy rules are very simple, the calculation time for obstacle avoidance is reduced. The numerical simulation results show that the system is practicable.
