Abstract
The time delays on the networked control system and the sensor uncertainties are the major factors affecting the performance of the autonomous mobile robot navigation in an unstructured, unknown and dynamic environment. A hierarchical, decentralized and networked control system is proposed that consists of a high-level navigation control module and a remote low-level closed-loop motion control module. The knowledge based fuzzy logic control algorithm is proposed as the high-level control. No explicit model is required. The proposed system is implemented on a two wheel differential drive mobile robot and validated through four environment scenarios as (1) slope, (2) maze, (3) dynamic obstacles and (4) garage parking. The uncertainties of the laser range finder are also evaluated. The experimental results demonstrated the proposed system can effectively and efficiently navigate the mobile robot under the effect of the time delays on the networked control system and the sensor uncertainties.
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