Multilayer Decision-Based Fuzzy Logic Model to Navigate Mobile Robot in Unknown Dynamic Environments

The investigation into mobile robot navigation under uncertain dynamic environments is of great significance. This paper seeks to solve the current problems which are difficulty plan in indeterminate ever-changing environments, problem optimality, failure complex situations, and predicting obstacle velocity vector. objective this study propose a multilayer decision-based fuzzy logic model find solution for through safe path while preventing any types barriers understand non-collision robots’ movement an unknown environment. In study, prediction priority rules decision used by controller improve quality next position with regard its length, safety, runtime. results comparison studies revealed considerable improvement rate length. Outcomes show that suggested method displays attractive features, instance, stability, zero rates, low running time. average length all test 13.11 0.47 standard deviation provides 89% optimality rate. time about 5.31 s 0.25 deviation.