Real-time navigation in unknown environments using fuzzy logic and ultrasonic sensing

摘要

In this study a fuzzy logic controller has been designed in order to deal with the uncertainty and ambiguity of the information the system receives. The technique has been used on a mobile robot using a set of seven ultrasonic sensors to perceive the environment. The fuzzy control designed maps the input space (information coming from ultrasonic sensors) to a safe collision avoidance trajectory (output space). This is accomplished by an inference process based on rule (list of IF-THEN statements) taken from a knowledge base. The technique generates satisfactory movement of the autonomous vehicle to reach its goal safely. Simulation and experimental results show that the method can be satisfactory used by mobile robots moving on unknown static terrains.