Research on Obstacle Avoidance Method by Ultrasonic Sensors Based on Fuzzy Control

摘要

The expectative sort of perceptive environment is generalized for mobile robot based on its ultrasonic sensors collocation and group- ing.Principle of fuzzy obstacle avoidance is analyzed and obstacle avoidance method is established based on fuzzy logic control according to the experience of people's driving.The fuzzy rules of obstacle avoidance are founded by analyzing the experience of people's driving.And the sub- jection function for input and output variables are presented.The simulation is made in Simulink environment and the results show that mobile robot can realize independent steering.