Study of obstacle avoidance based on fuzzy planner for wheeled mobile robot

摘要

In this paper, a fuzzy planner is designed, which is combined with motion controllers to control three-wheel mobile robot with infrared sensors to avoid obstacles in unknown environment. The fuzzy planner processes data from infrared sensors to get the navigation angle in which the robot should be necessarily driven to avoid obstacles. The navigation angle acts as the input value of the speed arithmetic unit, which will generate the given speed values for the motion controls of the left and right driving wheels according to the kinematics model. In the end, motion controllers and drivers control the DC servo motors to accomplish the task of avoiding obstacles for mobile robot. Experiments show that mobile robot with this fuzzy planner can reliably avoid obstacles.