A new second-order fuzzy control scheme for dynamic obstacle avoidance

Abstract

For the dynamic obstacle avoidance problem in a unknown environment, a second-order fuzzy control strategy is proposed based on fuzzy method. Through the observation and analysis of the perception information of the delta speed and the delta deviation angle of a detected dynamic obstacle, the robot then make decision to efficiently avoid dynamical obstacles. Moreover, a two hierarchical control scheme is designed, where the upper level is to determine the deflection angle according to delta of speed and direction of dynamic obstacles, and the lower one is to derive the speed of a robot by employing the output of the upper level and the distance between the robot and dynamic obstacle. The simulations are demonstrated that the proposed scheme is effective and efficient.