Fuzzy Speed Controller for Mobile Robots Navigation in Unknown Static Environments

摘要

Mobile robots that navigate in unknown environments should be provided with a module that is responsible for controlling its speed. In this paper, a new fuzzy speed controller is offered to control the speed of a mobile robot that navigates in unknown static environments. The proposed controller considers three factors; the turning heading angle taken by the robot for each step, the distance to the nearest obstacle, and the importance of each sensor. Simulation results show an enhancement in the robot behavior (in terms of time and route) when the proposed fuzzy controller is used as compared to the same robot with constant speed.