Fuzzy logic control for the robot motion in dynamically changing environments

In the real environments the vehicle has to move among the obstacles the position of which can be change very fast because of their relative motions. Such environments are dynamically changing and the autonomous robot motion is not posible without simple decision making produced by robot control system. On the base of fuzzy logic theory, the algorithms for fuzzy control and decision making are developed to promote the vehicle motion in unstructured and changing environments. Using fuzzy logic approach the trajectory planning system is developed for the situation when the obstacles are moving independently and obstacle avoidance is necessary to produce by means manoeuvre motion. The direction of the vehicle motion can changes automatically depending on surrounding situation. The moments and forces are analyzes for the robots in the various kinds of motion and manoeuvre producing.