Fuzzy set based navigation´s area application for mobile robots

Until now, the region where the mobile agent was capable to travel has been established like the result of subtraction between the areas of the “workspace, WS” minus “configured obstacles, CB”. This region is known like “aligned free space” (AFS). Let we suppose the following path planning methods: BUG algorithm, TBA algorithm, SFP algorithm and so on. The common feature of these algorithms is, that each of them, planning the path in near close to the obstacle. In these cases, if we will not consider the localization´s accuracy, it can happen, that mobile agent will hits with obstacle. In this paper, first of all the navigation´s area (NA) will be defined, and then will be suggested, how is it possible to create a navigation´s area with assistance of fuzzy set. Actually the fuzzy set will be assigned to the “Voronoi diagram” of the reduced (aligned) free space (AFS) of the environment, or it is possible to reverse: that is in maximum of the fuzzy set can be created the centre line (Voronoi diagram) of the reduced free space.