Indoor navigation of mobile robot using fuzzy logic controller

摘要

A robot has been designed and fabricated which can autonomously navigate to desired direction in unknown environment; which can scan the environment to generate SONAR map plus vision system for obstacle detection. Robot can be accessed and controlled manually using wireless module for specific situation. In the strategy for robot navigation in unknown environment, the fuzzy-rule-based algorithm has been employed and implemented in controller itself for fast response. Design of the fuzzy behavior controller has been done by multi-sensor integration and fuzzy rule implementation. Through a GUI interfaced wireless control panel, collaborative navigation control can be shared between the human and robot at some specific situations. A low-cost and robust platform has been developed for mobile robot for strength and stability. This mobile robot has been tested in unknown indoor environment with different obstacle course. All of obstacle course was finished successfully autonomously within satisfactory limit of 70 seconds. It was observed from correlation values that left control outputs observed from simulated and actual controller are more similar than others. Percentage error analysis for different outputs for simulated and actual controller values has been calculated and fidelity is found to be satisfactory.