Autonomous Navigation for a Mobile Robot Using Navigation Guidance Direction and Fuzzy Control

摘要

This paper proposes a generation method of a navigation guidance direction and a fuzzy controller to achieve the autonomous navigation of a mobile robot using a particle swarm optimization(PSO) scheme in unknown environments. The proposed navigation guidance direction is the direction that leads a mobile robot to arrive a target point simultaneously with avoiding obstacles efficiently according to the surrounding local informations. It is generated by selecting the most suitable direction of the many directions in the surrounding environment using a particle swarm optimization scheme. Also, a robot can reach a target point with avoiding the various obstacles by controlling the robot so that it can move from its current orientation to the navigation guidance direction using the proposed fuzzy controller. Simulation results are presented to show the feasibility and validity of the proposed robot navigation scheme.