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Fuzzy Control System for Autonomous Navigation of Thymio II Mobile Robots

Fatma Boufera1, Fatima Debbat1, Francesco Mondada2, and M. Faycal Khelfi3
1. Faculty of Science and Technology, Mascara University, Algeria
2. EPFL, Lausanne Robotic Systems Laboratory
3. RIIR Laboratory, Faculty of Exact and Applied Sciences, University of Oran, Algeria
Abstract—This paper treats the autonomous navigation problem of robotic systems in a dynamic and uncertain environment. In particular, we are interested in determining the robot motion to reach the target while ensuring their own safety and that of different agents that surround it. To achieve these goals, we have adopted a fuzzy controller for navigation and avoidance obstacle, taking into account the changing nature of the environment. The approach has been tested and validated on a ThymioII robots set. As application field, we have chosen a parking problem.

Index Terms—robotics, navigation autonomous, fuzzy logic, thymioII robot 

Cite: Fatma Boufera, Fatima Debbat, Francesco Mondada, and M. Faycal Khelfi, "Fuzzy Control System for Autonomous Navigation of Thymio II Mobile Robots," Journal of Emerging Technologies in Web Intelligence, Vol. 6, No. 1, pp. 101-105, February 2014. doi:10.4304/jetwi.6.1.101-105
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