Target Seeking and Obstacle Avoidance of Omni Robot in an Unknown Environment

摘要

Recently, growth in demand for robots has been emerged in various aspects of our life. Mobile robot researchers focus on the target seeking and obstacle avoidance in hazardous environments. Due to the difficulty in finding the exact model for the mobile robot "Robotino®", the decision to use fuzzy logic controller (FLC) capabilities to introduce a safe Robotino® target seeking without any human intervention is made. In this paper, the design and implementation of the position control using two fuzzy logic controllers for Robotino® is presented. Matlab is used to implement the two controllers. Furthermore, the Straight-Line Equation (SLE) is used to make Robotino® reaching its target. By using three infrared sensors and one ultrasonic sensor, the real time experiment results show that Robotino® can detect and avoid any obstacle may be found on its route.