Fuzzy-Heuristic Robot Navigation in a Simulated Environment

Abstract

Computational intelligence techniques such as fuzzy logic and neural networks have been recently successful in enabling robots to cope with complex tasks, such as navigation in difficult environments. This paper proposes an intelligent navigation approach for mobile robots based on fuzzy logic in conjunction with heuristic rules. The Fuzzy-Heuristic approach attempts to tackle complicated situations such as two or more obstacles trapping the robot during navigation. Furthermore, the success of the approach is evaluated measuring the effect of the heuristic rules on robot navigation in a simulated environment for various scenarios. Simulation experiments show that the heuristic unit can improve robot navigation performance in difficult situations.