Application of Fuzzy Logic for Collision Avoidance of Mobile Robots in Dynamic-Indoor Environments

摘要

Application of Mobile Robots have increased many folds in recent years. A heuristic effort is dedicated in making Mobile Robots adept to indoor environments to perform different type of activities. Autonomous Mobile Robots, for a long time, have remained in the focal point of many researches due to its potentials in multifunctional application and its suitability in well-defined, structured environments. As indoor environments can easily be represented as a structured environment, mobile robots become a potential candidate to make indoor activities human free. Nevertheless, the prime features like path planning and motion control need to have further development s before these autonomous mobile robots can be used successfully in highly dynamic environments. One of the important behaviors to achieve successful motion planning is the collision avoidance behavior of mobile robots. In this paper, we address the design of a collision avoidance controller with fuzzy logic. The first part of the paper addresses the improvement of the existing fuzzy logic controller for a more complex environment involving more than two known-dynamic obstacles. And in the second part, we have improved the design of the controller for unknown-dynamic obstacles in indoor environment based on information of onboard sensor. The results of the MATLAB simulations, in structured 2D environments, illustrates the successful navigation of mobile robots in both scenarios and thus validating the design of the controllers.