Robot Navigation under Approximateself -

The ability to pursue speciic goals is essential for purposeful autonomous navigation. Goals usually refer to objects in the environment whose position is stored in a map. To eeectively use this information, the robot needs to translate absolute positions in the map into internal coordinates, based on an estimate of its own position in the map. We describe a technique to incorporate map information into a fuzzy controller when this estimate is approximate, and it is represented by a fuzzy set. We illustrate this technique by showing an example on a mobile robot.