Fuzzy knowledge-based controller design for autonomous robot navigation

Abstract

In this study a fuzzy logic controller for mobile robot navigation has been designed. The designed controller deals with the uncertainty and ambiguity of the information the system receives. The technique has been used on an experimental mobile robot which uses a set of seven ultrasonic sensors to perceive the environment. The designed fuzzy controller maps the input space (information coming from ultrasonic sensors) to a safe collision-avoidance trajectory (output space) in real time. This is accomplished by an inference process based on rules (a list of IF-THEN statements) taken from a knowledge base. The technique generates satisfactory direction and velocity maneuvers of the autonomous vehicle which are used by the robot to reach its goal safely. Simulation and experimental results show the method can be used satisfactorily by wheeled mobile robots moving on unknown static terrains.