Robust fuzzy control for collecting objects by a wheeled space rover with a multi-articulated arm

Abstract

This research proposes a Mandani-type fuzzy controller to manage autonomous rover navigation. Fuzzy logic systems have proven effective in dealing with the inherent uncertainties in real-world applications, making them particularly suitable for tasks such as rover navigation. The study addresses designing and implementing a fuzzy control system tailored to rover navigation scenarios’ dynamic and unpredictable nature. The Mandani fuzzy controller employs linguistic rules to model intricate relationships among input variables, minimizing errors in wheel speed, steer mechanism, and 6-DOF robot arm trajectories. The implementation is validated through Matlab/Simulink TM simulation studies, using representative scenarios to evaluate the controller’s performance in demanding environments. Evaluation metrics include trajectory accuracy, obstacle avoidance, and overall system robustness. The results of this research are intended to provide valuable insights into the application of fuzzy control systems for autonomous rover navigation, with implications for improving the reliability and adaptability of robotic exploration missions.