... visibility graph and A∗algorithm. Fuzzycontrollersareachieved,onthe one hand,forthefollowingoftheplannedpathby the virtual robotinthetheoretical environment and, on the other hand, for the navigation ... M (medium) and B (big).The fuzzy rules have the following form:• If R, L and p are zero then the planned pathfollowing strategy is activated (Sp).• If R and L are negative and p is big ... inaccurate and uncertain data treatment and modeling by learning.2 H. Maaref, C. Barret / Robotics and Autonomous Systems 38 (2002) 1–18which permits the robot to reach its destination and to generate...