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Journal of Intelligent and Robotic Systems

, Volume 42, Issue 3, pp 253–273 | Cite as

Navigation of Mobile Robots Using a Fuzzy Logic Controller

  • Dayal R. Parhi
Article

Abstract

This paper describes a mobile robot navigation control system based on fuzzy logic. Fuzzy rules embedded in the controller of a mobile robot enable it to avoid obstacles in a cluttered environment that includes other mobile robots. So that the robots do not collide against one another, each robot also incorporates a set of collision prevention rules implemented as a Petri Net model within its controller. The navigation control system has been tested in simulation and on actual mobile robots. The paper presents the results of the tests to demonstrate that the system enables multiple robots to roam freely searching for and successfully finding targets in an unknown environment containing obstacles without hitting the obstacles or one another.

Keywords

mobile robot fuzzy logic Petri Net navigation 

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Copyright information

© Springer 2005

Authors and Affiliations

  1. 1.Mechanical Engineering DepartmentNational Institute of TechnologyRourkelaIndia

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