In ours paper, we have developed a Mamdani Fuzzy interference system in MATLAB R2014a for mobile robot navigation in static environment. Inputs of the fuzzy inference system are the angle between the robot orientation and the robot target orientation (i.e. robot rotation angle) and the distance measured by the ultrasonic sensor from the obstacle to the orientation. The robot can reach the target with less bending energy, minimum time and shortest path with obstacle avoidance in static environment. The proposed system takes minimum inputs and rules to avoid the clustered obstacles in the static environments. It also calculate the angular velocities of two wheels of the mobile robot. The efficiency of the proposed method is verified by the simulation and experimental results.
展开▼
