A fuzzy logic-based reactive navigation algorithm for mobile robots

In this paper, a novel algorithm based on sensory information is developed to address the problem of Goal Unreachable with Large Obstacles (GUWLO) found in fuzzy logic-based navigation algorithms for mobile robots. The GUWLO problem occurs when the absolute value of the target angle is large and the directions to the left (or right) are completely blocked. This is alleviated by interpolating a temporary target angle considering the surface feature or the obstacle in front of the robot. The resulting navigation system is implemented on a real mobile robot, Koala, and tested in various environments. Experimental results are presented which demonstrate the effectiveness of the resulting fuzzy navigation system and its improved performance over conventional fuzzy-logic navigation algorithms.