Fuzzy Control for the Obstacle Avoidance of Remote Control Mobile Robot

Abstract

The remote control mobile robot is the robot accomplishing a task according to the orders giving by a user through departed communication system using a joystick. Basically, to supply a lot of information, as this type of robot uses visual information, the user can check the transmitted information by eyes and give orders to the robot. But the weak point of this type of robot is that it has a possibility to come into a collision with an obstacle not be seen to the user because of the communication delay occurring in a communication system and dead zone happening in visual information. To solve the problem, in this paper, we try to suggest a system applying a fuzzy control system to the robot to avoid collision with an obstacle by an immediate order of the user. The fuzzy control system has better performance than any other existing control methods in the change of noise and parameter. And it is more efficient than any other since it solves easy the complexity of the system analysis occurring because of the nonlinear feature of the mobile robot system. In this paper, we made experiments how the mobile robot controlled by the fuzzy control system avoids an obstacle, tracks the path and avoids the obstacle in the path, to prove the performance and to check the evaluation and the application possibility of the fuzzy control system.