FUZZY LOGIC-BASED ROBOT NAVIGATION IN STATIC ENVIRONMENT WITH DEAD CYCLE OBSTACLES

摘要

This paper demonstrates a hybrid control methodology for mobile robot navigation of a two-wheeled non-holonomic mobile robot by using fuzzy logic controller (FLC) incorporated with a switching command strategy (SCS). E-puck robot with eight infrared sensors to sense its workspace is used in this work. The FLC performs the major functions of obstacle detection and target seeking as the switching strategy resolves the local minimum problem in many types of dead-end environments to reach the target successfully. The dead-end traps may have any shape such as U-shape dead-ends, maze-like, G-shape and complicated environment. Validation on e-puck robot in Webots simulation shows that the proposed controller from the combined FLC and SCS algorithm can successfully navigate the robot to reach its goal while avoiding collisions in its trajectory. Besides escaping from local minimum, robot path is also better in comparison with the previous work which results in verifying the robustness of this approach.