Fuzzy logic techniques for autonomous vehicle navigation

A tutorial by Alessandro Saffiotti

The field of autonomous mobile robotics has come to an important milestone. On the one hand, there is a clear emerging market for autonomous vehicles operating in houses, public buildings, warehouses, and the like. On the other hand, there is a technological gap between these needs and the capabilities of current mobile robots. Very recently, a number of solutions based on fuzzy logic have been proposed that can fill this gap. This tutorial presents state-of-the-art fuzzy logic techniques that have been used in autonomous robotics. The aim of the tutorial is to give designers of autonomous robots the ability to evaluate and use fuzzy logic techniques to address their problems. In order to keep a practical flavor, the tutorial is illustrated by examples based on real robots.
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