Abstract—This paper proposed a fuzzy controller for the autonomous navigation problem of robotic systems in a dynamic and uncertain environment. In particular, we are interested in determining the robot motion to reach the target while ensuring their own safety and that of different agents that surround it. To achieve these goals, we have adopted a fuzzy controller for navigation and avoidance obstacle, taking into account the changing nature of the environment. The approach has been tested and validated on a Thymio II robots set. As application field, we have chosen a parking problem.

Index Terms—Mobile robot, navigation autonomous, fuzzy logic, Thymio II robot.

F. Boufera and Fatima Debbat are with the Mathematics and Computer Science Department, University of Mascara, Mascara, Algeria (e-mail: fboufera@yahoo.fr, debbat_fati@yahoo.fr).
F. Mondada is with EPFL, Lausanne, Robotic Systems Laboratory (e-mail: francesco.mondada@epfl.ch).
M. F. Khelfi is with Laboratory of Researches in Industrial Computing & Networks, Faculty of Exact and Applied Sciences, University of Oran, Algeria (e-mail: mf_khelfi@yahoo.fr).

Cite:Fatma Boufera, Fatima Debbat, Francesco Mondada, and M. Fayçal Khelfi, "Fuzzy Control System for Autonomous Navigation and Parking of Thymio II Mobile Robots," International Journal of Computer and Electrical Engineering vol. 6, no. 4, pp. 321-325, 2014.