A fuzzy inference controller with Accelerate/Brake Module for mobile robots

摘要

In this paper, a fuzzy-inference controller with Accelerate/Brake (A/B) Module is proposed for navigation control of a mobile robot in dynamic environments. This approach includes target seeking, obstacle avoidance, and optimal path planning. By utilizing the fuzzy controller, a mobile robot could approach a target in a dynamic environment autonomously. The A/B Module of the proposed system is to enable the mobile robot to make human-like decisions as it moves toward a target. Under the control of the proposed fuzzy inference model, the robot can perform well both in avoiding static and moving obstacles like human beings along a reasonable short path.