Hierarchical fuzzy controller to avoid mobile obstacle for a mobile robot

In this paper, we have treated a mobile robot command problem in an unknown environment containing mobile obstacle. Firstly, we have considered that the environment is without obstacles and we have defined a fuzzy controller to orient the robot toward the target. Then, we have supposed that the environment is dynamic (the existence of a moving obstacle), and we have proposed a new method for commanding the robot to the target with obstacle avoidance. This method uses hierarchical fuzzy systems. Simulation results show that the used method is powerful and effective.