Duel fuzzy logic controllers design for autonomous robot navigation

Abstract

A robot navigation system based on two fuzzy logic controllers has been developed to overcome the challenging problem in complex terrain navigation. While one fuzzy controller perform the regular navigation including target steering, avoiding obstacles and following the edge of obstacles, a novel fuzzy controller is designed for the robot to only follow the edge of obstacles until finding the exit to the difficult scenarios, such as U-shape obstacles. Simulation results show that our approach beats the traditional fuzzy logic controller in both escaping ability from U-shaped obstacle and steering ability.