From traffic flow simulations to collision avoidance module for mobile robot - cellular automata with fuzzy rules approach

A discrete automaton model is introduced with fuzzy rules to simulate one-way traffic flow. Results of simulations are consistent with the so-called fundamental diagram (flow versus density), as is observed in real free-way traffic. The fuzzy controller approach makes it possible to efficiently control mobile robots to avoid collisions. The 1D automaton can be easily extended to a two dimensional environment.