Type-2 Fuzzy Control of a Mobile Robot for Avoiding Moving Object

Abstract

This research utilizes type-2 fuzzy logic system to a wheeled mobile robot (WMR) for moving object avoidance. A CCD camera and a localization system are integrated in the control scheme. The wheeled mobile robot can adjust moving path by the position and heading angle, which are given from the localization system. Dynamic obstacle avoidance strategy is implemented in fuzzy rules. Distance between the WMR and an obstacle, center coordinate, heading angle, and displacement of the obstacle can all be obtained by image process and distance computation algorithm. Experiments show that the WMR can perform dynamic obstacle avoidance successfully.