An algorithm of obstacle avoidance for an autonomous mobile robot

The locus drawn by a car travelling at a low speed can be expressed by using circular arcs. This principle is applied to simulate travelling of an autonomous mobile robot with four wheels (Ohkita et al. (1990)). With this fact, it is shown that, by combining simple fuzzy control rules, the robot can be driven avoiding an obstacle put in a left turning course and also when the obstacle moves in its course. The rules are derived by modelling driving actions of a car to such cases.