In this paper, a new navigation algorithm for wheeled mobile robots is proposed. The proposed algorithm utilizes fuzzy multi-attribute decision-making method in deciding which via-point the robot would proceed at each decision step. Via-point is defined as the local target point of robot's movement at each decision instance. We define a few fuzzy goals to achieve successful robot navigation. At each decision step, a set of the candidates of next via-point in 2D navigation space is constructed by combining various heading angles and velocities. Given the fuzzy goals, the fuzzy decision-making enables the robot to choose the optimal via-point among the candidates. Results from a series of simulations and an experiment in a real environment show the effectiveness of the proposed method.

In this paper, we present the design and the structure of our multiple micro-robot system, CENDORI, designed for playing a robot soccer game, MIROSOT. A robot soccer game is a very complex robot application that incorporates real-time vision, robot control wireless communication and management of multiple robots. To build a robot system with high performance and reliability, we designed the system architecture with a centralized concept. The robot control relies largely upon the vision system and the host computer generating low level motion control words. The experimental results and the performance of the robot are discussed.