Fuzzy obstacle avoidance control of a two-wheeled mobile robot

Abstract

This paper proposes an effective fuzzy obstacle avoidance approach to guide the mobile robot to the target without colliding with obstacles in the environment. First, the control problem and the model of the mobile robot are introduced. Then, the sensor module setting is described for detecting the environmental obstacles. Based on the sensor coordination scheme, the sensing data is merged for simplify the complexity of the controller. Afterward, the obstacle avoidance fuzzy logic controller is presented by involving human's intelligence. Compared with model-based control, the fuzzy logic control has more implement flexibility and high integration with multiple sensors. Finally, simulations are performed to demonstrate the feasibility and effectiveness of the proposed control method.