Application of fuzzy control to a sonar-based obstacle avoidance mobile robot

摘要

Describes how fuzzy control can be applied to sonar based obstacle avoidance of the HelpMate mobile robot. Behavior-based fuzzy control for the HelpMate mobile robot was designed. The design and implementation of the fuzzy control system is described. The fuzzy controller provides the mechanism for solving sensor data from all sonar sensors which present different information. The behavior-based approach is implemented as an individual high priority behavior. The highest level behavior is called task-oriented behavior, which consists of two subtasks, wall following and goal following. The lower level is obstacle avoidance behavior. The lowest is an emergency behavior. Visual Basic 6 code was developed for implementation. The fuzzy inference system was created. Helpmate obstacle avoidance was implemented. The result shows that each behavior works correctly. The HelpMate robot can avoid all obstacles that are detected by sonar sensors.