Autonomous Mobile Robot Motion Control in Undefined Route

Abstract

Currently, many studies in the field of robotics are devoted to solving various problems of the movement of wheeled mobile robots. One of the problems is to realize the movement of a wheeled mobile robot in the external environment from one point to another, avoiding accidental obstacles in its path. Typically, such robots are equipped with sensors, so a mobile robot, as a rule, is able to perceive the obstacles that arise. A mobile robot control system to avoid obstacles and reach the finish along an undefined route using fuzzy controller is propose in this article. The designed system is implemented in the environment of "MATLAB Simulink and Fuzzy Toolbox", in which three sensors are used to measure the distance and the angle of orientation of obstacles. The proposed controllers allow us to solve the problem of laying the trajectory and avoiding obstacles of the robot to ensure its movement to the target. The simulation results are presented by a feasibility study and an assessment of the effectiveness of fuzzy controller.