Cooperative mobile robots with obstacle and collision avoidance using fuzzy logic

摘要

This paper presents a fuzzy controller technique in navigation with obstacle and collision avoidance for cooperative micro robots playing soccer. The dynamic positions of the robots and obstacles are taken into consideration. The information needed about the robot environment is the destination point, the distance between the robots, and obstacles and is taken from a camera vision system. The obstacles can be the opponent robots, the teammate robots, and the soccer field boundaries. Fuzzy logic is used to control the navigation of a robot as it avoids the presence of an obstacle along its way to the destination point. Obstacle and collision avoidance can be achieved by changing the direction angle of the robot. The cooperative behavior of the robots is tested based on team performance in playing the soccer game. The effectiveness of the technique developed is shown in the results of real time experiments. The fuzzy logic controller developed proves to be more accurate and robust compared to other conventional controllers.