Dynamic Motion Planning for Autonomous Wheeled Robot using Minimum Fuzzy Rule based Controller with Avoidance of Moving Obstacles

摘要

In this article, the Minimum Fuzzy Rule-Based (MFRB) sensor-actuator controller has designed for dynamic motion planning of a differential drive wheeled robot among the moving, non-moving obstacles and goal in two-dimensional environments. The ring of ultrasonic sensors and infrared sensors have been attached on the front side, left side, and right side of the wheeled robot, which detects the moving obstacles, as well as non-moving obstacles in any environment. This proposed MFRB sensor-actuator controller helps the wheeled robot to move safely in a different scenario. The onboard sensor interpretation data are fed as input to the MFRB controller, and the MFRB controller provides the Pulse Width Modulation (PWM) based wheel velocity commands to both the left and right motors of a wheeled robot. In the numerical simulation and experiment, we have taken one condition that the speed of wheels of the differential drive wheeled robot is at least more than or equal to the rate of the moving obstacles and the moving goal. The numerical simulations are performed through a MATLAB graphical user interface (GUI), and we have used the differential drive wheeled robot to conduct experiments. The presented numerical simulation and experimental results illustrate that the MFRB controller operated wheeled robot has successfully avoided the stationary and non- stationary obstacles in various scenarios.