Iraj Hassanzadeh - Control Engineering Department, Faculty of Electrical & Computer Engineering University of Tabriz, Tabriz, Iran
Reza Dalayimilan
Hamid Ghadiri

In this paper we present a new modified fuzzy controller and implement it for obstacle avoidance of Khepera II mobile robot navigation. First we design a new fuzzy Algorithm with a few rules and few membership functions for avoidance of obstacles .The most important feature of this method is its simplicity and efficiency. The other important feature of the proposed method is smooth navigation due to the selected type of membership functions. The fuzzy method is compared to the classical method for robot navigation and results show that our fuzzy method acts betters than classical methods. In next phase we modified our proposed fuzzy method. The proposed modified method is simulated and implemented in Khepera II robot too. Results show the effectiveness and high performance of this new algorithm. In addition, by using this modified fuzzy the robot reaches its target in shorter time compared to the classical and former fuzzy methods.

Robot navigation; Fuzzy logic controllers; Mobile robot; Khepera II