Robot Navigation Using Fuzzy-logic and Actual-virtual Target Switching: Avoiding Local Minima

This book is meant to introduce a new algorithm for navigation of mobile platforms such as AGVs and service mobile robots through cluttered environments where the knowledge of the whole workspace is not available. Beside revisiting previous techniques and famous algorithms, readers learn from the scratch how to develop a fuzzy navigator based on standard obstacle avoidance and target seeking behaviours as encapsulated in the fuzzy rules representing artificial potential fields. In addition, introduction to the new technique provides an interesting insight into future research on mobile robot navigation. Virtual target by itself is not a new technique, however, its combination with other algorithms provides room for improvement. Another fact about this book is its simplicity in describing the topics along with the applied software and hardware, details of the developed code, and everything researchers need to replicate the work for further research.