Navigation strategy of an intelligent mobile robot using fuzzy logic

When a robot confronts large, non-convex or scattered obstacles, it is apt to be trapped in the local minimum points. This paper suggests a new fuzzy algorithm to solve this problem using some simple data. The proposed algorithm has two-layered hierarchical structure: the lower layer for avoiding and approaching, and the upper layer for combination of these logic. Some computer simulation results for a mobile robot equipped with three ultrasonic range sensors show that the suggested navigation algorithm is very effective to escape from local minimum points under unknown environment.