Mobile Robot Navigation using alpha level fuzzy logic system: Experimental investigations

This paper presents the issues associated with the mobile robot navigation and the establishment of a new technique to navigate the mobile robot in a real world environment. The issues discussed are (i) If multiple obstacles are appeared in the environment with equal distances as perceived from multiple sensors of robot, then the corresponding multiple obstacles are treated as a whole and the robot deviate from obstacles widely and avoid then reaching to the target. As a result of the wide deviation, the robot takes long time and long path to reach the target position. (ii) Behavior rule selection when multiple obstacles are appeared in the environment with equal distances from robot. The robot navigation with optimal path, time and rule selection are more important and critical task, whenever the mobile robots are engaged to search the lives in the event of natural disaster like earthquake etc. A new methodology is proposed and used for resolving the above issues and discussed in this paper. The mathematical aspect of resolving conflicts is presented the following section.