A Wheeled Mobile Robot Obstacles Avoidance for Navigation Control in a Static and Dynamic Environments

摘要

Abstract This research focuses on the performance of the obstacle avoidance feature implemented on a wheeled mobile robot by using Sugeno Fuzzy Inference System (FIS). The test was done using a simulation software Webots and the layout was first draft out using walls, floors, and objects in order to set a boundary and obstacles for the simulation. To test the effectiveness and efficiency in terms of time and distance, the simulation time and trajectory of the Khepera implementing the Sugeno FIS was recorded and compared with the Khepera without implementing the Sugeno FIS. The inputs of the ultrasonic sensors were also recorded in order to analyze whether if the Khepera detects incoming objects or if Khepera follows the rules set in the algorithm.