Using Fuzzy Logic in Autonomous Robot Navigation
A catalogue raisonné by Alessandro Saffiotti

 

Abstract

The development of techniques for autonomous navigation in real-world environments constitutes one of the major trends in the current research on robotics. An important problem in autonomous navigation is the need to cope with the large amount of uncertainty that is inherent of natural environments. Fuzzy logic has features that make it an adequate tool to address this problem. In this paper, we review some of the possible uses of fuzzy logic in the field of autonomous navigation. We focus on four issues: how to design robust behavior-producing modules; how to coordinate the activity of several such modules; how to use data from the sensors; and how to integrate high-level reasoning and low-level execution. For each issue, we review some of the proposals in the literature, and discuss the pros and cons of fuzzy logic solutions.

Please contribute

This report is meant to be a living document. From time to time I will produce a new version including the comments that I receive, and I will update the bibliography. If you would like to contribute your comments, or point to additional references, please send an email to <asaffio@aass.oru.se>.

Available versions

Version 2.1 Appeared in: Soft Computing 1(4):180-197, 1997

 

FLAR Home ------------------
Website hosted by AASS
Last updated on Jan 20, 2001