Fuzzy logic-based moving obstacle avoidance method

摘要

In this study, a fuzzy logic-based collision avoidance method is studied. Mobile robots operating in a dynamic environment may encounter moving obstacles. The distance from the obstacles to the robot is provided as a control input. The change of distance is provided as the secondary input. The output speed value is expressed as ‘stop’, ‘very slow’, ‘slow’, ‘medium’ and ‘fast’, respectively. Each of these expressions has an exact numerical value, but it depends on the inputs and the rule base, and therefore the numerical values belong to the variable ratios. The input parameters do not have an exact value and they are assigned to different numerical ranges at different ratios. The input membership functions defined in this study are defined as triangular functions. The defuzzification process of the output parameter is performed by the weighted average method. Keywords: fuzzy; logic-based; mobile; avoidance method