Dynamic Path Planning for Autonomous Mobile Robot using Minimum Fuzzy Rule Based Controller with Avoidance of Moving Obstacles

摘要

In this article, the minimum fuzzy rule-based (MFRB) sensor-actuator controller has designed for dynamic path planning of a differential drive wheeled robot among the moving, non-moving obstacles and goal in two-dimensional environments. The ring of ultrasonic sensors and infrared sensors have been attached in the front, left and right side of the wheeled robot, which detects the moving obstacles, as well as non-moving obstacles in any environment. The MFRB controller helps the robot to move safely in the working environment. The sensor interpretation data are fed as input to the MFRB controller, and the MFRB controller provides the Pulse Width Modulation (PWM) based wheel velocity control commands to both the left and right motors. In the simulation and experiment, the speed of wheels of the differential drive robot is at least more than or equal to the speed of the moving obstacles and the moving goal. Simulations are performed through MATLAB graphical user interface (GUI), and we have used the differential drive wheeled mobile robot for experiments. Simulation and experimental results illustrate that the MFRB controller operated mobile robot has successfully avoided the stationary and moving obstacles in various scenarios.