Е-Публикации
Технически университет - София

Abstract: The paper presents fuzzy navigation system for a mobile robot. This navigation is based on fuzzy inference machine that performs path planning and obstacle avoidance in arbitrary complex environments. The system is built as two-level hierarchical system. On the higher level there is a controlling PC that is connected with robot control unit through duplex, wireless communication channel. A sensor system comprising four subsystems: tactile, ultrasonic,odometer, and visual is cared for collection of environment information. The inference machine consists of two mutual connected fuzzy rule bases responsible for path planning and obstacle avoidance. The fuzzy navigation strategy is obtained as a combined compromise decision between them.

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