Intelligent Mobile Robot Motion Control in Unstructured Environments

摘要

Abstract: This paper presents the intelligent wheeled mobile robot motion control in unstructured environments. The fuzzy control of a wheeled mobile robot motion in unstructured environments with obstacles and slopes is proposed. Outputs of the fuzzy controller are the angular speed difference between the left and right wheels of the mobile robot and the mobile robot velocity. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unstructured environment and the velocity control of a wheeled mobile robot motion of the proposed fuzzy control strategy. Wireless sensor-based remote control of mobile robots motion in unstructured environments using the Sun SPOT technology is proposed. The proposed method has been implemented on the miniature mobile robot Khepera that is equipped with sensors. Finally, the effectiveness and efficiency of the proposed sensor-based remote control strategy are demonstrated by experimental studies and good experimental results.