Fuzzy Logic mobile robot velocity Control for autonomous navigation

摘要

This paper proposes system that drives a mobile robot to a desired target, including obstacle avoidance capabilities without human intervention. The autonomous navigation control design relies on Deformable Virtual Zone (DVZ) detection obstacle technique and Fuzzy Logic for robot's wheels velocity Control (FLC). DVZ defines a risk zone around the vehicle, in which the presence of an obstacle deforms its shape. The FLC drives the robot reaction in real time according to this deformation, for both combined 3D obstacle avoidance and goal tracking behavior. Simulation results illustrate the performance of the proposed control system.