Obstacle Avoidance of Mobile Robot using Fuzzy Logic and Hybrid Obstacle Avoidance Algorithm

摘要

The road accidents due to traffic problems and human erroneous driving are the major challenges for researches. The self-driving car or mobile robot is the solution to avoid such mishaps. In this paper, an attempted has been made to develop obstacle avoidance algorithms for bicycle vehicle model of mobile robots. The hybrid obstacle avoidance algorithm is proposed on the merits of line, wall following and tangent bug algorithm. The trajectory generated from the hybrid obstacle avoidance algorithm is fed into the overwhelming controller of the bicycle vehicle model of mobile robot for avoiding obstacles. Then, the fuzzy logic (FL) based obstacle avoidance controller is proposed. Twenty-three set of rules are proposed for fuzzy logic approach. Both the obstacle avoidance algorithms are implemented on the bicycle vehicle model of the mobile robot. The dynamic model of the mobile robot is developed using bond graph theory and is converted into Simulink block using S-function directly from the library of SYMBOLS Shakti software. The vehicle model is equipped with three ultrasonic sensors to measure the distance from the obstacles. Three input membership functions and one output membership function are considered in fuzzy logic controller. During avoiding two static obstacles and reaching the target, the comparison of obstacle free paths traced by both obstacle avoidance algorithms is done in this paper.