Obstacle Avoidance of an Autonomous Mobile Robot using Fuzzy Logic

摘要

The present article is devoted to develop an algorithm for obstacle avoidance of an autonomous mobile robot based on fuzzy logic. The method of navigation proposed in this paper provides a way of blending the intelligence and optimality of global methods with the reactive dynamic behavior and low computational complexity of local ones. This is achieved by using hybrid navigation system composed of two modules, one of which uses the a-priori information and determines roughly the optimal route towards the goal, where as the other carries out effective navigation decisions using the potential function based local approach, to which previous results have provided improvements such as complexity reduction, more flexibility, and a possibility to reach the system using a fuzzy representation. The fuzzy rules are constructed from intuitive and subjective human ways of collision avoidance. The results of the present study are compared favourably with those of well-established algorithms.