Development of a fuzzy logic based mobile robot for dynamic obstacle avoidance and goal acquisition in an unstructured environment

摘要

This paper presents the design of a mobile robot for obstacle avoidance in an environment about which no a priori information is available and which consists of static as well as moving obstacles. The paper concerns itself with the design of a fuzzy brain for the mobile robot, its integration into the control system and the sensor system used for the detection of obstacles in its workspace. The obstacle avoidance strategy of the robot is based on the artificial potential field method. A fuzzy logic based system is used to implement this strategy since it reduces the computational effort required in the implementation of the artificial potential field method. An algorithm (intelligent obstacle avoidance algorithm) is proposed to integrate the fuzzy system into the main control system for the mobile robot. The system described above is being tested by simulation and subsequently be tested on an actual mobile robot being developed