Autonomous Mobile Robot Obstacle Avoidance Using Fuzzy-PID Controller in Robot’s Varying Dynamics

摘要

This paper focuses on the design of a fuzzy-PID controller for a laser sensor-based mobile robot to detect the obstacle and to avoid it. The research discusses two significant problems, i.e. The mobile robot requries high performance so for this purpose; the robots are required to avoid the obstacle with minimum overshoot and settling time, and other is to tune the gains of controller automatically using fuzzy laws even if the parameters of the vehicle are changed. This paper compares the fuzzy tuned PID controller and classic PID controller under two different vehicle dynamics. The results shows that in varying dynamics of the vehicle, the performance of the fuzzy-PID controller possess better adaptability and very promising while results are compared to the classical PID controller.