Study on the Path Planning of the Spherical Mobile Robot based on Fuzzy Control

Abstract

To improve the adaptability of the spherical mobile robot in unknown environment, this paper proposed the behavior-based fuzzy control method, and integrated fuzzy obstacle avoidance performance into this method. Firstly, the sensors were arranged according to the motion model of the spherical mobile robot, and which improved the flexibility and autonomy of the spherical mobile robot in unstructured environment. In the process of motion, the spherical mobile robot use multi-sensor, which is used to collect the obstacles and the target position information in the environment, to complete the path planning. Then, the MobotSim simulation platform was used to design the behavior-based control experiments for the spherical mobile robot, including wall-following, through narrow road, obstacle avoidance and trending target experiments.etc. The simulation results verified the validity and reliability of the fuzzy control system. Finally, the path planning experiments in the real environment was completed, which controlled the spherical mobile robot behavior by fuzzy controller and priority decisions, including obstacle avoidance, wall-following, cruising, tending to target and unlocking the deadlock behaviors, and so on, and modified the pose of the robot based on the angle of real-time feedback information to avoid obstacles precisely. The experimental results showed that the spherical mobile robot could complete control method based on behavior, further verified the effectiveness and practicability of the fuzzy control system.