Fuzzy logic-based navigation controller for an autonomous mobile robot

A fuzzy logic-based real-time navigation controller is described. This controller combines the path planning and trajectory following as an integrated and coordinated unit so that it executes maneuvers such as docking and obstacle avoidance online. Only a little information, which is easily obtained through a low-cost sonar system, is necessary and is always available. Tight coupling between sensor data and control actions provides the autonomous mobile robot with the adaptability necessary for coping with a dynamically changing world. There is no separate path planning to be performed. Driving mechanism reacts immediately to perceived sensor data as the mobile robot navigates through the world