Fuzzy control system for a mobile robot collision avoidance

摘要

Mobile robots are widely employed in fully automatic factories and FMS to carry out various kinds of transportation tasks. While they are working mobile robots have to recognize the environment and to avoid colliding-accidents First of all, this paper discuss the principles of ultrasonic ranging. This paper then presents a detecting method by using ultrasonic sensor array and to install the array on a mobile robot. Not only can it detect the distance and the direction from the obstacles but it can also detect the shape of the obstacles. On the other hand in this paper, the actions taken by a human driver to avoid collision accidents while driving a car are analyzed. Based on these analyses, the author proposes to adopt the fuzzy control strategy to design the environment recognition and collision avoidance system for the mobile robots.