Obstacle Avoidance of Mobile Robots in Unknown Environments

摘要

This paper gives the fuzzy control of a wheeled mobile robot motion in an unknown environment with obstacles. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. When the vehicle is moving towards the target and the sensors detect an obstacle, an avoiding strategy is necessary. We proposed a fuzzy reactive navigation strategy of collision-free motion in an unknown environment with obstacles. First, the kinematic modeling of the autonomous wheeled mobile robots is analyzed. Then the fuzzy control of a wheeled mobile robot motion in an unknown environment with obstacles is proposed. Output of the fuzzy controller are the angular speed difference between the left and right wheels of the vehicle and the vehicle velocity. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unknown environment of the proposed fuzzy control strategy.