Mobile robot navigation using sonar direction weights

Kai-Tai Song*, Shin Yi Huang

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

7 Scopus citations


A fuzzy control system for autonomous navigation of mobile robots has been designed and implemented using behavior-based approach. We propose a novel concept of direction weights for sonar scanning of the robot environment. This concept facilitates navigation design using simple fuzzy logic controllers. Only three fuzzy rules are used in the fuzzy logic navigation controller. Thus the mobile robot has fast response to obstacles in an unknown environment. Fuzzy-Kohonen Clustering Network (FKCN) is adopted for sonar direction weights determination. In control implementation, the direction weights are adjusted in real time to the environmental changes. Both computer simulations and practical experimental results are presented to verify the effectiveness of the proposed navigation system.

Original languageEnglish
Number of pages6
StatePublished - 1 Dec 2004
Event2004 IEEE International Conference on Control Applications - Taipei, Taiwan
Duration: 2 Sep 20044 Sep 2004


Conference2004 IEEE International Conference on Control Applications


  • Autonomous robot control
  • Fuzzy control
  • Mobile robots
  • Neural networks

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