This paper is concerned with a mobile robot reactive navigation in an
unknown cluttered environment based on neural network and fuzzy logic.
Reactive navigation is a mapping between sensory data and commands without
planning. This article's task is to provide a steering command letting a
mobile robot avoid a collision with obstacles. In this paper, the authors
explain how to perform a currently perceptual space partitioning for a mobile
robot by the use of an ART neural network, and then, how to build a
3-dimensional fuzzy controller for mobile robot reactive navigation.
The results presented, whether experimented or simulation, show that our
method is well adapted to this type of problem.
