Abstract
The path planning and obstacle avoidance are the most important tasks for an autonomous mobile robot moving in an unknown environment. This paper presents a simple fuzzy logic controller which involves searching target and path planning with obstacle avoidance. In this contest, fuzzy logic controllers are constructed for target searching behavior and obstacle avoidance behavior based on the distance and angle between the robot and the target as inputs for the first behavior and the distance between the robot and the nearest obstacle for the second behavior; then a third fusion behavior is developed to combine the outputs of the two behaviors to compute the speed of the mobile robot in order to fulfill its task properly. Simulation results show that the proposed approach is efficient and can be applied to the mobile robots moving in unknown environments.
Highlights
Mobile robots have been the object of many researchers over the last few years in order to improve their operational capabilities of navigation in an unknown environment which consist of the ability of the mobile robot to plan and execute a collision-free motion within its environment
The path planning in an unknown environment depends on the different sensory systems which provide a global description of the surrounding environment of the mobile robot; this description might be associated with imprecision and uncertainty
To have a suitable path planning scheme, the controller must be robust to the imprecision of sensory measurements
Summary
Mobile robots have been the object of many researchers over the last few years in order to improve their operational capabilities of navigation in an unknown environment which consist of the ability of the mobile robot to plan and execute a collision-free motion within its environment. This environment may be imprecise, complex and either partially or nonstructured (Janglova, 2004). The path planning in an unknown environment depends on the different sensory systems (cameras, sonar, etc.) which provide a global description of the surrounding environment of the mobile robot; this description might be associated with imprecision and uncertainty. The need for an approach such as fuzzy logic (Beom and Cho, 1995; Ehsan et al, 2011) which can deal with uncertainties is more suitable for this kind of situations
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