Probabilistic Fuzzy Control of Mobile Robots for Range Sensor Based Reactive Navigation

Abstract

In this paper, a probabilistic fuzzy approach is pr oposed for mobile-robot reactive navigation using range sensors. The primary motivation is an integrated reac tive navigation control system with good real-time per- formance under uncertainty. To accomplish this aim, a probabilistic fuzzy logic system (PFLS) is introduced to range measurement and reactive navigation in local environments. PFLS is first adopted to handle the fuzzy and stochastic uncertainties in range sensors a nd to provide more precise distance information in un- known environments. Consequently these sensor data are sent to a proba bilistic fuzzy rule-based inference system with reactive behaviors for local navigation. The feasibility and effectiveness of the proposed ap- proach are verified by simulation and the experiments on a real mobile robot.