Fuzzy Control of Unknown-Obstacle Avoidance for Mobile Robots

摘要

In this study, a path-following control strategy for a mobile robot with unknown obstacles being detected on the planned path is investigated. For a given space with known obstacles, the path-planning methods can generate the shortest collision-free path from the beginning to the end. In a real environment, the unknown obstacles may appear on the planned path, after that the mobile may not follow the original path. In this research, an obstacle-avoidance mode is added into the original path-following controller. The signals from five distance measurement sensors on the mobile can be used to guide it successfully. Computer simulations are given to verify the proposed algorithm. One find that various locations and directions of the distance sensors can affect the results.