Navigation of Omni-Directional Mobile Robot in Unstructured Environments using Fuzzy Logic Control

摘要

Among the existing control schemes, Fuzzy Logic (FL) is advantageous in offering robustness to uncertainty and noise in sensor readings. However, the performance of FL-based navigation strategies is well-known to be bounded by localminima risks in polygonal environments with nonconvex configurations. Here, we propose a twin-stage Fuzzy Logic scheme for autonomous navigation of mobile robots. Our exhaustive computational and real-world experiments using Robotino, an omnidirectional mobile robot architecture shows the potential to avoid local-minima and obstacle collisions, enabling the computationally efficient and adaptive FL-based behavioural modules for mobile robots.