الفهرس 
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Abstract
Mobile robot is a blind , so it must has a good algorithm to take the correct decision .Fuzzy logic system was suggested to be the control system . A complete and perfect algorithm was made using fuzzy logic control, which can lead mobile robot to navigate toward its goal without colliding the obstacles in its way . The surface view of overall algorithm displayed that mobile robot can navigate easily toward its goal. The idea of the algorithm depends on two tasks that must be satisfied ,the goal seeking and the obstacles avoidance. To make a complete picture about the algorithm, a simulink diagram is designed to establish an environment which containing some obstacles and mobile robot. A fuzzy logic based approach to mobile robot navigation offers three important benefits: simplicity ,extensibility and understandability. To examine the strength of the proposed algorithm , a comparative analysis with the previous researches was done. The suggested algorithm successes to produce the desired results : •A small number of rules was used to satisfy the problem. •Simulation the suggested algorithm obtains a clear idea about it and test the algorithm. •Fuzzy logic has the simplicity and ability to deal with imprecision and nonlinearly system. •The number of sensors is less. This leads to low cost. •The time of navigation was decreased. •Fuzzy inference system was meeting the requirements, which must be satisfying in any mobile robot control system. •The simulink diagram proves the result. And it can used to test any future change or modifying in the algorithm. The suggested approach is an inception to design a mobile robot which capable of navigation in any dangerous areas. The present thesis consists of six chapters, which could be summarized as follow: •Chapter one: An introduction about mobile robots and navigation problem. A brief historical review about the researches under navigation problem is also introduced in this chapter .Also the problem statement is introduced . •Chapter two: Concerns with an illustration of the fuzzy logic and membership function. •Chapter three: presents the robotic system components and then a suggested approach for mobile robot navigation is introduced. This suggested approach is based on the fuzzy logic theory. •Chapter four: A simulation study is carried out when the mobile robot navigates through the surrounding environment. Results of simulation are also discussed. •Chapter five: Results are Compared with some of previous works. The comparison showed the effectiveness and validity of the suggested approach. •Chapter six: is a conclusion . •In Appendix, the characteristic of fuzzy logic, MATLAB toolbox for fuzzy, and list of all programs are listed.