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A simple goal seeking navigation method for a mobile robot using human sense, fuzzy logic and reinforcement learning

Author(s): Boubertakh Hamid | Tadjine Mohamed | Glorennec Pierre-Yves | Labiod Salim

Journal: Journal of Automatic Control
ISSN 1450-9903

Volume: 18;
Issue: 1;
Start page: 23;
Date: 2008;
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Keywords: fuzzy logic | reinforcement learning | mobile robot navigation | obstacle avoidance

This paper proposes a new fuzzy logic-based navigation method for a mobile robot moving in an unknown environment. This method allows the robot obstacles avoidance and goal seeking without being stuck in local minima. A simple Fuzzy controller is constructed based on the human sense and a fuzzy reinforcement learning algorithm is used to fine tune the fuzzy rule base parameters. The advantages of the proposed method are its simplicity, its easy implementation for industrial applications, and the robot joins its objective despite the environment complexity. Some simulation results of the proposed method and a comparison with previous works are provided.
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