This paper proposes a new fuzzy logic-based navigation method for a mobile robot moving in an unknown environment. This method endows the robot the capabilities of obstacles avoidance and goal seeking without being stuck in local minima. A simple Fuzzy controller is constructed based on the human sense and a fuzzy reinforcement learning algorithm is used to fine tune the fuzzy rule base parameters. The advantages of the proposed method are its simplicity, its easy implementation for industrial applications, and the robot joins its objective despite the environment complexity. Some simulation results of the proposed method and a comparison with previous works are provided. © 2008 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Boubertakh, H., Tadjine, M., & Glorennec, P. Y. (2008). A simple goal seeking navigation method for a mobile robot using human sense, fuzzy logic and reinforcement learning. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5177 LNAI, pp. 666–673). Springer Verlag. https://doi.org/10.1007/978-3-540-85563-7_84
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