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Journal of Robotics
Volume 2019, Article ID 2465219, 11 pages
Research Article

Same Fuzzy Logic Controller for Two-Wheeled Mobile Robot Navigation in Strange Environments

1National Engineering School of Sousse (ENISO), University of Sousse BP 264 Sousse Erriadh 4023, Sousse, Tunisia
2Laboratory EμE, Faculty of Sciences of Monastir, University of Monastir, Av. Ibn El Jazzar Skanes 5019, Monastir, Tunisia
3Research Unit of Industrial Systems Study and Renewable Energy (ESIER), National Engineering School of Monastir (ENIM), University of Monastir, Av. Ibn El Jazzar Skanes 5019, Monastir, Tunisia

Correspondence should be addressed to Awatef Aouf; moc.liamg@fetawafuoa

Received 24 September 2018; Revised 2 December 2018; Accepted 18 December 2018; Published 3 January 2019

Academic Editor: Shahram Payandeh

Copyright © 2019 Awatef Aouf et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


For any mobile device, the ability to navigate smoothly in its environment is of paramount importance, which justifies researchers’ continuous work on designing new techniques to reach this goal. In this work, we briefly present a description of a hard work on designing a Same Fuzzy Logic Controller (S.F.L.C.) of the two reactive behaviors of the mobile robot, namely, “go to goal obstacle avoidance” and “wall following,” in order to solve its navigation problems. This new technique allows an optimal motion planning in terms of path length and travelling time; it is meant to avoid collisions with convex and concave obstacles and to achieve the shortest path followed by the mobile robot. The efficiency of employing the proposed navigational controller is validated when compared to the results from other intelligent approaches; its qualities make of it an efficient alternative method for solving the path planning problem of the mobile robot.