Intelligent fuzzy interface technique for the control of an autonomous mobile robot

摘要

In this article, research has been carried out on the control technique of an autonomous mobile robot to navigate in a real-world environment, avoiding structured and unstructured obstacles, especially in a crowded and unpredictably changing environment. Here a successful way of structuring the navigation task, dealing with the issues of individual robot behaviours, is discussed. Action coordination of the behaviours has been addressed using fuzzy logic in the present research. The inputs to the proposed fuzzy-control scheme consist of a heading angle between a robot and a specified target, and the distances between the robot and the obstacles to the left, front, and right of its locations, being acquired by an array of sensors. The proposed intelligent controller for mobile robot navigation algorithm employing fuzzy theory has been applied in a complex environment. The results are verified in simulation and experimental modes, which are in good agreement.