Fuzzy Logic Based Reactive Control of a Mobile Robot for Navigation in an Unstructured Environment

Essay from the year 2013 in the subject Electrotechnology, , course: BS Electrical Engineering, language: English, abstract: This paper presents a proposed fuzzy logic based control algorithm as a behavior based control scheme for real time navigation of a mobile robot in an unstructured environment. Behavior based control makes use of a set of distributed, interacting modules called behaviors that collectively help achieve the desired response. Each behavior receives inputs from sensors and/or other behaviors in the system and provides outputs to robot's actuators or to other behaviors. For reactive navigation control, rule based methods can be employed in order to avoid lengthy computations and complexity associated with the involvement of world-models. To verify the functionality and effectiveness of multiple behaviors i.e. left wall following, right wall following and corridor following, simulations have been performed on a 2D configurable simulator. Workspace for each of these simulations, especially corridor navigation has been designed so as to incorporate all different types of situations that the robot is expected to face in a real world navigation problem. The method has been proposed for implementation on an autonomous differential wheeled mobile robot. It is a circular shaped platform, designed and developed for experimentation with the newly emerging navigation algorithms.