To achieve the path planning of mobile robot for a correct destination and direction using fuzzy theory

摘要

The self-adaptive robot's navigation and path planning is one of the most important research issues for the intelligent robots in industry. The correct direction and destination for the intelligent mobile robot is regarded that the robot can arrive in the desired destination with an accurate direction. This paper proposes the mobile robot route planning algorithm using two fuzzy logic controllers. The first controller is designed as the path planning for mobile robot. The second one is used for avoiding any obstacles to achieve the optimal route by switching over the controller output status. Therefore, the mobile robot can move toward the desired target with accurate direction successfully. In the proposed system, the ultrasonic sensor is employed for recognizing the obstacle and detecting the distance between them. Also, the laser navigation system (NAV 200) is used to implement the navigation function. Accordingly, the mobile robot is capable of adapting to a complicated and unknown changing environment. The experimental results confirm that the error of the destination axle (X and Y) does not exceed plusmn7cm, and the direction angle error is limited within plusmn10deg.