Abstract
This work describes design and implementation of a navigation and obstacle avoidance controller using fuzzy logic for four-wheel mobile robot. The main contribution of this paper can be summarized in the fact that single fuzzy logic controller can be used for navigation as well as obstacle avoidance (static, dynamic and both) for dynamic model of four-wheel mobile robot. The bond graph is used to develop the dynamic model of mobile robot and then it is converted into SIMULINK block by using ‘S-function’ directly from SYMBOLS Shakti bond graph software library. The four-wheel mobile robot used in this work is equipped with DC motors, three ultrasonic sensors to measure the distance from the obstacles and optical encoders to provide the current position and speed. The three input membership functions (distance from target, angle and distance from obstacles) and two output membership functions (left wheel voltage and right wheel voltage) are considered in fuzzy logic controller. One hundred and sixty-two sets of rules are considered for motion control of the mobile robot. The different case studies are considered and are simulated using MATLAB-SIMULINK software platform to evaluate the performance of the controller. Simulation results show the performances of the navigation and obstacle avoidance fuzzy controller in terms of minimum travelled path for various cases.
References
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© 2019 Walter de Gruyter GmbH, Berlin/Boston
Articles in the same Issue
- Frontmatter
- Original Research Articles
- Existence Results of Mild Solutions for Impulsive Fractional Integrodifferential Evolution Equations With Nonlocal Conditions
- Conservation Laws of Space-Time Fractional mZK Equation for Rossby Solitary Waves with Complete Coriolis Force
- Abundant Lump Solution and Interaction Phenomenon of (3+1)-Dimensional Generalized Kadomtsev–Petviashvili Equation
- Multiple Solitary Wave Solutions for Nonhomogeneous Quasilinear Schrödinger Equations
- Fuzzy Logic Controller for Obstacle Avoidance of Mobile Robot
- Optimal Thrust Programming Along the Brachistochronic Trajectory with Non-linear Drag
- Numerical Treatment of the Fractional Modeling on Susceptible-Infected-Recovered Equations with a Constant Vaccination Rate by Using GEM
- The Fractional Chua Chaotic System: Dynamics, Synchronization, and Application to Secure Communications
- Dynamics of a Predator–Prey Model with Holling Type II Functional Response Incorporating a Prey Refuge Depending on Both the Species
Articles in the same Issue
- Frontmatter
- Original Research Articles
- Existence Results of Mild Solutions for Impulsive Fractional Integrodifferential Evolution Equations With Nonlocal Conditions
- Conservation Laws of Space-Time Fractional mZK Equation for Rossby Solitary Waves with Complete Coriolis Force
- Abundant Lump Solution and Interaction Phenomenon of (3+1)-Dimensional Generalized Kadomtsev–Petviashvili Equation
- Multiple Solitary Wave Solutions for Nonhomogeneous Quasilinear Schrödinger Equations
- Fuzzy Logic Controller for Obstacle Avoidance of Mobile Robot
- Optimal Thrust Programming Along the Brachistochronic Trajectory with Non-linear Drag
- Numerical Treatment of the Fractional Modeling on Susceptible-Infected-Recovered Equations with a Constant Vaccination Rate by Using GEM
- The Fractional Chua Chaotic System: Dynamics, Synchronization, and Application to Secure Communications
- Dynamics of a Predator–Prey Model with Holling Type II Functional Response Incorporating a Prey Refuge Depending on Both the Species