A study on the fuzzy control navigation and the obstacle avoidance of mobile robot using camera

Abstract

This paper describes a vision-based path planning method in an indoor environment for an autonomous mobile robot that can avoid obstacles that might appear in the path of a navigating robot. A fuzzy logic controller is used to control the position of a mobile robot. We use the wavelet transform to detect the edges of guidelines and obstacles. We suggest an algorithm that can be used in the control of the mobile robot without collisions with obstacles. The distance between the robot and the obstacle as well as the size of the obstacle can be measured using a single camera and several ultrasonic sensors. We suggest an algorithm of path planning with these methods.