الفهرس 
Introduction and Literature ReviewOnly 14 pages are availabe for public view
Abstract
The development of methods for autonomous navigation of a robot in a real world environment is one of the major areas of interest for current research.
This thesis attempts to develop an autonomous robot using ultrasonic sensors (for sensing the obstacle environment) and Global Positioning System (GPS) and a digital compass (for direction and location).
This work deals with the problems of the navigation of an autonomous robot with known environment that used in different applications such as mine detector. A navigation method based on the behavior of the robot that has been developed, is achieved by means of Fuzzy Logic Control ”F.L.CONTROLLER”.
This thesis describes the design and development of a low-cost autonomous robot that is targeted. After implementation, we evaluate the performance of the developed robot. Several problems had been identified and possible solutions are proposed.
A design controller is a main component of the proposed system, which has three functions: motion control, obstacles avoidance and self-navigation. The proposed controller is responsible for the navigation of the mobile robot after generating a road with a current point and goal point. As well, it enables the robot to work successfully in the bearing of various obstacle environments with any user built maps.
The complete system operations were simulated using MATLAB software package M-file was created and run to get the data used to plot car position (Lat., Lon.), a car heading (θ1) and car velocity. Moreover, we achieved the complete comparison between the data got from the simulation with practical data collected during the actual run of car for 70 Sec.
The the differences between simulated and practical results (data) are also illustrated; it comes out that the practical results were very close to the simulated results.