Automatic Navigation of a wheeled mobile robot using Particle Swarm Optimization and Fuzzy Control

摘要

The purpose of this paper is develop an approach of Navigation for a wheeled mobile robot that is called “WMR”. The local map was constructed by using a laser rangefinder. The WMR will arrive to the destination which is assigned by user. Additionally, how to find the methods of collision-free and best path for the WMR is also very important. Particle Swarm Optimization (PSO) is a useful and easy to implement method for coping with optimization problems. The turn-angle and forward-distance of the WMR are two main factors in this purpose. The best path can be obtained after many times of iteration. In addition, Fuzzy Control is used to solve special condition, such as WMR may be stuck in the same road. In this work, experimental results are given to demonstrate the feasibility of this method.