Fuzzy logic control of an autonomous mobile robot

摘要

Navigation of autonomous mobile robots in unpredictable and dynamic environments is restricted by uncertainty, complexity, and unreliability issues of robots and their environments. In this context a navigation system for an autonomous mobile robot using intelligent fuzzy logic technique will be presented. Fuzzy logic control is able to emulate human experience about how best to control a system without needing accurate model equations, and can handle any perturbation in the system. A hierarchical behavior based control strategy has been devised in which four different reactive behaviors are combined by means of a fuzzy supervisor. For testing and validation, many simulations have been proposed which focus on: moving towards static or movable goal; escaping from local minima whenever it's detected; and traversing a cluttered environment with unknown static and dynamic obstacles.