Design of Obstacle Avoidance System for Mobile Robot using Fuzzy Logic Systems

摘要

There were many reports about an obstacle avoidance of a mobile robot. In this paper, we design a fuzzy logic system and propose an obstacle avoidance algorithm for a path planning in unknown environment for a mobile robot. The ultrasonic sensors are employed for detecting the distance to obstacles and their positions. An angular velocity control for left and right wheels is implemented by a fuzzy logic system. We here propose another new rule table that is induced from the consideration of the distance to obstacles and the angle between the robot and the goal. Some simulation results show that the proposed method generates a good path with avoiding obstacles and has faster travelling time.