Fuzzy reactive control, incorporating a local target switching scheme, is applied to the
automatic navigation of an intelligent mobile robot in an unknown and changing
environment. Sensed-ranging signals and relative target position signals are input to the
fuzzy controller. The steering angle and the velocity change are inferred to drive the mobile
robot. A reactive rule base governing the robot behavior is synthesized from the human
heuristics with respect to various situations of environment. A local target switching scheme …

Fuzzy reactive control is applied to the automatic navigation of an intelligent mobile robot in
an unknown and changing environment. Sensed ranging and relative target position signals
are input to the fuzzy controller. The steering angle and the velocity change are inferred to
drive the mobile robot. A reactive rule-base governing the robot behaviour is developed. In
order to deal with local trapping and oscillating wandering problems, a local target switching
scheme is proposed as a front-end processor for the fuzzy reactive controller. Simulation …