Mobile robot obstacle avoidance by using Fuzzy Logic technique

摘要

This paper present an obstacle avoidance approach for e-puck module by using Fuzzy Logic controller. The input from eight (8) IR sensors and the output of the motor speed will be used to construct the Fuzzy Logic rules. Test environment, e-puck robot and Fuzzy algorithm was model and programmed by as a Webots Pro Simulation software. The Fuzzy system for e-puck robot was validated in a few environments. The result shows the e-puck module can avoid that static obstacles successfully until it reach a goal point. The robot performance in term of distance and time was recorded when the robot works in simple, average and complex obstacle environments.