Real time navigation of autonomous robot with fuzzy controller and ultrasonic sensors.

摘要

This paper shows a strategy suitable for navigating autonomous robots in a completely unknown environment. The method proposed combines optimum path planning techniques with fuzzy logic to avoid obstacles and to determine the shortest path towards its goal. The technique computes the potential surface using Dijkstra’s algorithm in a moving window, updating the cost map as it moves with the information obtained by the ultrasonic sensors. A Fuzzy Logic Controller (FLC) controls the wheels of a differential drive robot to the angle of minimum potential. This ensures a smooth trajectory towards the objective. A second FLC controls the average speed of the platform.