A method of indoor mobile robot navigation by using fuzzy control

摘要

In the design of an autonomous mobile robot (AMR), it is necessary to describe schemes of monitoring the status of the robot and suitable procedures of handling various situations. this paper presents a sensor-based navigation method using fuzzy control, whose purpose is to construct expert knowledge for efficient and better piloting of the AMRs. This method provides a function for tracing a planned path by sensing the distance of an AMR from its planned path and the difference between its angle and that of the planned path, and another function that allows an AMR to avoid stationary and moving obstacles by sensing how far an open area extends ahead of it. Fuzzy control is also used to select suitable rules for tracing a path or avoiding obstacles according to the situation, which is determined from sensor information by using fuzzy control. The effectiveness of the established rules and the effect of fuzzy control on AMR navigation are discussed on the basis of simulations.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>