Mobile Robot Navigation using Fuzzy Limit Cycles in Cluttered Environment

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Fatma Boufera 1,2,* Fatima Debbat 1 Lounis Adouane 3 Mohamed Faycal Khelfi 2

1. Mathematics and Computer Science Department, University of Mascara, Mascara, Algeria

2. Laboratory of Researches in Industrial Computing & Networks, Faculty of Exact and Applied Sciences, University of Oran, Algeria

3. Institut Pascal, UBP-UMR CNRS 6602, Clermont Ferrand France

* Corresponding author.


Received: 7 Oct. 2013 / Revised: 26 Jan. 2014 / Accepted: 20 Mar. 2014 / Published: 8 Jun. 2014

Index Terms

Mobile Robot, Obstacle Avoidance, Limit-Cycles Method, Fuzzy Logic


This paper proposes a hybrid approach based on limit-cycles method and fuzzy logic controller for the problem of obstacle avoidance of mobile robots in unknown environment. The purpose of hybridization consists on the improvement of basic limit-cycle method in order to obtain safe and flexible navigation. The proposed algorithm has been successfully tested in different configurations on simulation.

Cite This Paper

Fatma Boufera, Fatima Debbat, Lounis Adouane, Mohamed Faycal Khelfi, "Mobile Robot Navigation using Fuzzy Limit-Cycles in Cluttered Environment", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.7, pp.12-21, 2014. DOI:10.5815/ijisa.2014.07.02


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