Data fusion strategy for the navigation of a mobile robot in an unknown environment using fuzzy logic control

摘要

This work describes how fuzzy logic control FLC can be applied to sonar sensors of a Pioneer 3-DX mobile robot. The fuzzy logic approach has proved its effectiveness in the navigation of mobile robots in known and unknown environments in the different industrial areas. It provides a mechanism for combining sensor data from all sonar sensors and a position sensor which present different information of the environment. The proposed controller is responsible of the navigation behaviours (obstacles avoidance and wall following) of the mobile robot while travelling from a home point to a goal point. The FLC is built as a subprogram based on the intelligent architecture (IA) using the Matlab-ARIA interface. Simulation results show the effectiveness of the proposed approach for the navigation of the mobile robot.