Authors:
Viorel Stoian
and
Cristina Pana
Affiliation:
University of Craiova, Romania
Keyword(s):
Fuzzy logic algorithm, mobile robots, obstacole avoidance, trajectory controller.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Soft Computing
Abstract:
This paper presents a fuzzy control algorithm for mobile robots which are moving next to the obstacle boundaries, avoiding the collisions with them. Four motion cycles (programs) depending on the proximity levels and followed by the mobile robot on the trajectory (P1, P2, P3, and P4) are shown. The directions of the movements corresponding to every cycle, for every reached proximity level are presented. The sequence of the programs depending on the reached proximity levels is indicated. The motion control algorithm is presented by a flowchart showing the evolution of the functional cycles (programs). The fuzzy rules for evolution (transition) of the programs and for the motion on X-axis and Y-axis respectively are described. Finally, some simulations are presented.