An effective DVZ–fuzzy logic pilot for a mobile robot using generic architecture

This paper proposes a discussion of a generic controller which is based on a hybrid fuzzy-DVZ algorithm that drives a robotic wheelchair to a desired target and remains free of collision. Furthermore, it overcomes a corner situation constraint that is present in a number of obstacle avoidance strategies in the literature. This algorithm is reactive and generic, but the obtained experimental paths are not optimised and to do so we have used a collaborative assistance using a 2D interface with virtual moving targets. Results are demonstrated in experimental tests.