A New Fuzzy Based Approach For RoboCup Small Size Soccer Robots' Obstacle Avoidance

摘要

This paper presents a new method for RoboCup Small Size Soccer Robots' obstacle avoidance based on Fuzzy Logic. The efficiency of the proposed algorithm makes it suitable for real time environments. This method only considers the most dangerous obstacle and uses the robot's relative distance and angle to that object and its target as inputs. The system has been described with only 10 rules. Moreover, this paper proposes a new method for software implementation of a fuzzy system in C/C++, which is all modular. This paper also includes 3D simulation results of the proposed algorithm in action. The simulation results shows the efficiency of this method.