Adaptive control performance of a mobile robot using hybrid of SLAM and fuzzy logic control in indoor environment

摘要

This paper presents an adaptive mobile robot system for assistance in indoor laboratory environment. The main system composes of two tasks: a low-level task which is controlled by DSPIC 16 bit microprocessor for controlling the motion of four omni wheel direction's mobile robot and arm robot as grabber, and a high level task controlled by Raspberry Pi with Arch Linux Arm in use autonomously explores the environment, build an appropriate map and localize itself relative to this real laboratory room map. The validation of the program shows that the mobile robot can be guided to move along the specific direction with high accuracy using the simultaneous localization, and mapping (SLAM) combined with the fuzzy logic technique as autonomous map building.