Motion planning using fuzzy logic control with minimum sensors

摘要

A new exploratory motion planning technique for a mobile robot is described and demonstrated using a fuzzy logic control (FLC) approach with two distance sensors. The fuzzy logic controller determines steering direction for a four wheel mobile robot based on distance from each sensor to the nearest obstacle ahead of the robot. Changes in steering direction are developed using Mamdani's Minimum Operation Rule and Center of Area (COA) defuzzification. The overall motion planning strategy is described and results from testing are discussed. It is believed that the FLC approach may offer advantages over other exploratory methods.