It is necessary for an autonomous mobile robot (AMR) to describe schemes of monitoring the status and procedures of suitable processes. This paper presents a sensor-based navigation method using fuzzy control, of which the purpose is to construct an expert knowledge for efficient and better piloting of AMR. This method provides a function of tracing a planned path by sensing distances of an AMR and its difference angle from the planned path, and a function of avoiding stationary and moving obstacles by sensing free area distances ahead of the AMR. Fuzzy control is also used to select suitable rules (tracing a path/avoiding obstacles) according to a situation, which is derived from sensor information by using fuzzy control. The effectiveness of established rules and the effect of fuzzy control on AMR navigation is discussed through simulations.
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S. Ishikawa (1994) studied this question.
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