Using a fuzzy control model to navigate a mobile robot

In this paper, it developed a fusion navigation system for a mobile robot. It used a fuzzy logic control model to handle three different behaviors of robot movement, including the obstacle avoidance, goal seeking and central route path. These behaviors are independently studied and solved for each situation. After all, three behaviors are fused by using a weight assignment equation to determine the velocities of two wheels of robot which it controls the movement of robot navigation.