Mobile robot navigation using Fuzzy logic controller

摘要

The proposed System assists the sensor based mobile robot navigation in an indoor environment using Fuzzy logic controller. Fuzzy logic control is well suited for controlling a mobile robot because it is capable of making inferences even under uncertainty. It assists rules generation and decision-making. It uses set of linguistic Fuzzy rules to implement expert knowledge under various situations. A Fuzzy logic system is designed with two basic behaviors- obstacle avoidance and a target seeking behavior. The inputs to the Fuzzy logic controller are the desired direction of motion and the readings from the sensors. The outputs from the Fuzzy logic controller are the accelerations of robot wheels. Under the proposed Fuzzy model, a mobile robot avoids the obstacles and generates the path towards the target.