This paper presents a real-time obstacle avoidance method based on a fuzzy logic controller for a fast moving mobile robot. This method employs ultrasonic sensory information for the detection of unknown obstacles and a combined algorithm of a modified virtual force field and fuzzy logic controller for obstacle avoidance and continuous navigation. A scheme that a single drive module can fire multiple ultrasonic sensors at a fast firing rate is first described. The simulation results as well as floor experiments utilizing the modified virtual force field method are then discussed. Finally, the fuzzy logic controller combined with the modified virtual force field is described, and its experimental results are also presented.
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