Routing and avoiding collisions of autonomous robots in unknown environments with fixed and moving obstacles

This research employs a hierarchical fuzzy control method to guide and control autonomous robots in environments containing fixed and moving obstacles. Considering that robots must operate in social environments to serve humans better, they must be able to navigate in the presence of fixed obstacles, moving objects and people without colliding or creating a fear of collision, and reach the final destination. The current work utilizes a hierarchical fuzzy controller with three agents of navigation, obstacle avoidance, and perception to achieve these goals. The coordination between these three agents is done using the definition of special utility functions. The obtained results confirm the correctness of the proposed approach in the successful passage of the robot past the fixed and moving obstacles and bringing it to the target point.