Uncertainty reduction of map building by a Mobile Robot using fuzzy reasoning

In the map building task, searching the starting position, after following the boundary of an unknown environment is a challenging job. Moreover if we continue the process, the robot will complete several trajectories. The final trajectory curve has been retrieved reducing the uncertainty within the several trajectories using fuzzy logic. Our experimental results show that this new strategy significantly satisfies in non-uniform workspace. This has been outperformed on Khepera II Mobile Robot.