Fuzzy navigation for robotic manipulators

K. Althoefer, L. D. Seneviratne, P. Zavlangas, B. Krekelberg

Research output: Contribution to journalArticlepeer-review

15 Scopus citations


This paper describes a novel navigation and obstacle avoidance system for robotic manipulators. The system is divided into separate fuzzy units which individually control the links of a manipulator. The rule base of each unit combines the repelling influence of obstacles with the attracting influence of the target position in a fuzzy way to generate actuating commands for the link. Owing to its simplicity and hence its short response time, the fuzzy navigator is especially suitable in on-line applications with strong real-time requirements. Furthermore, this approach allows obstacle avoidance in dynamic environments. The functioning of the fuzzy navigator with respect to robotic manipulators and results of real-world experiments are presented.

Original languageBritish English
Pages (from-to)179-188
Number of pages10
JournalInternational Journal of Uncertainty, Fuzziness and Knowldege-Based Systems
Issue number2
StatePublished - Apr 1998


  • Fuzzy logic
  • Navigation
  • Obstacle avoidance
  • Robotic manipulators


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