Intelligent Robot Obstacle Avoidance System Based on Fuzzy Control

Abstract

Autonomous obstacle avoidance technology is the best way to embody the feature of robot strong intelligence in intelligent robot navigation system. In order to solve the problem of autonomous obstacle avoidance of mobile robot, an intelligent model is used in this paper. Adopting multi-sensor data fusion technology and obstacle avoidance algorithm based on fuzzy control, a design of intelligent mobile robot obstacle avoidance system based on S3C2410X is described. Its perceptual system is composed of nine ultrasonic sensors to detect the surrounding environment from different angles, enhancing the reliability of the system on the based of redundant data between sensors, and expanding the performance of individual sensors with its complementary data. The S3C2410X processor receives information from perceptual system to calculate the exact location of obstructions to plan a better obstacle avoidance path by rational fuzzy control reasoning and defuzzification method. The paper focused on the analysis of the difference between the simulation results and the actual effects. The analysis shows that: the robot can avoid obstacles with a better security path to solve the problems of mobile robot intelligent obstacle avoidance. Through the comparison results, we can also find that the design of mobile avoidance obstacle system has a good navigation effect s because of its advanced characteristics of adaptability, stability and robustness.