Obstacle avoidance fuzzy system for mobile robot with IR sensors

Abstract

In this paper, we propose an obstacle avoidance system that uses a fuzzy logic control algorithm, for mobile robots that use inexpensive IR sensors in order to guide the robot through an unknown environment. The system is programmed in Python, utilizes one fuzzy system for total control and is self-contained. There are many systems made in the past which are mobile robots that used fuzzy logic in order to navigate in an unknown territory. However, those devices either required a wireless connection between the robot and a base station, or said robot used expensive sensors in order to guide itself around, such as ultrasonic sensors, or used multiple fuzzy systems in parallel to achieve the desired behavior from the robot. All of the examples mentioned above were coded in C/C++.