Development of efficient obstacle avoidance and line following mobile robot with the integration of fuzzy logic system in static and dynamic environments

摘要

Autonomous mobile robots have been widely used in many researches and applications. Mobile robots can be programmed to do specific tasks such as collision avoidance and trajectory planning. Various types of sensors and actuators are mounted on these robots for sensing the surrounding environment and making decisions accordingly. In this paper, we develop collision avoidance and line following techniques for mobile robot navigation in static and dynamic environments with the integration of fuzzy logic fusion. For the collision avoidance technique, eight proximity sensors are used to detect static and dynamic obstacles. The proposed fuzzy logic for the line following mechanism consists of one input and two outputs. The input is the difference between right and left ground sensors values whereas the outputs are the left and right speeds to steer the mobile robot. Several membership functions and fuzzy rules are designed. The proposed method has been successfully tested in Webots Pro simulator and in real time experiment.