Obstacle avoidance for mobile robots using an image-based fuzzy controller

In this paper, a new method is proposed to realize obstacle avoidance for an autonomous mobile robot, by applying image-based control. Although many obstacle avoidance techniques are proposed until now, it is shown that it becomes possible to achieve obstacle avoidance by image-based fuzzy control, without resort to the estimation of self-position said to be indispensable in control of an autonomous mobile robot. The validity of the proposal technique is proved through real system experiments for a steered type four-wheel mobile robot.