In the paper, a content analysis of existing models and methods of solving the problems of optimal mobile objects control is performed. A formal model of mobile object movement along a predetermined path is modified, considering appearance of obstacles. Precision parameters of the model are defined, confirmed the effectiveness of the approach. In order to increase the effectiveness of fuzzy model tuning, performed the modification of fuzzy processes represented by interval membership functions. Criteria for the object model adequacy are developed. The received model is verified; the adequacy of the model and processes is confirmed.
mobile object, fuzzy logic, trajectory, obstacle, optimization, risk function, type-2 model