Title: A reactive approach for mobile robot navigation in static and dynamic environment using fuzzy logic control

Authors: Maïssa Boujelben; Chokri Rekik; Nabil Derbel

Addresses: Department of Electrical Engineering, National school of Engineering of Sfax, Sfax University, Tunisia ' Department of Electrical Engineering, National school of Engineering of Sfax, Sfax University, Tunisia ' Department of Electrical Engineering, National school of Engineering of Sfax, Sfax University, Tunisia

Abstract: This paper presents a new control method for a safe navigation of mobile robot. The proposed control strategy adopts the principle of safe sector in the vector field histogram (VFH) method. It consists of directing the robot heading towards a safe vacant interval if there are obstacles, or to the target direction when the environment does not contain obstacles. A fuzzy controller is used for the robot guidance to the desired direction. The proposed navigation algorithm is available for static and dynamic environments. It is quite simple to understand and to implement. The efficiency of the proposed control approach is proved through simulation results using MATLAB and the virtual environment Webots.

Keywords: mobile robot; obstacle avoidance; fuzzy controller; static and dynamic environment; Webots.

DOI: 10.1504/IJMIC.2017.084722

International Journal of Modelling, Identification and Control, 2017 Vol.27 No.4, pp.293 - 302

Received: 08 Feb 2016
Accepted: 23 May 2016
Published online: 22 Jun 2017 *

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