The Optimized Path For A Mobile Robot Using Fuzzy Decision Function

Abstract The proposed paper presents the efficient obstacle avoidance mechanism in a complex environment based on the fuzzy optimized decision function. The origin point, goal point, obstacles, optimized paths, and efficient decisions mechanism are the requirements of the navigational system in two-dimensional space. During navigation, the distances measured in Euclidean Space, but the decision comprises with the proposed fuzzy function. This fuzzy function’s domain, co-domain, and range are finite. The domain lies with the set of obstacles, co-domain lies with the set of paths and the range lies with the decision. The robot follows the fuzzy rule generated by the proposed fuzzy function presented in the form of a matrix and the combination of the cell by row and column provides the resultant decision. This decision is formulated as the compact fuzzification of the two-dimensional rule over row and column of the matrix. Thus, every decision is unique and optimized. The experimental and simulational results are validated here to show the effectiveness of the proposed controller.