Autonomous navigation with obstacle avoidance of tricycle mobile robot based on fuzzy controller

摘要

One of the main issues in mobile robotics is the autonomous navigation of a mobile robot in an unknown environment. In this paper, a fuzzy controller for an autonomous navigation of mobile robot type tricycle in a partially known environment is proposed. Two controllers are developped, the first for a free navigation and the second for a navigation with avoidance of obstacles presents in evolution environment of mobile robot using an obstacles detection module. The selected fuzzy controller for the various missions of the mobile robot is Takagi-Sugeno type of order zero (TS0). Simulation works under various configurations of the workspace is undertaken and show a good convergence of the proposed controller.