Authors : B. M. Bhairat, M. R. Gosavi and V. M. Thakare
Page Nos : 19-22
Description :
The fuzzy logic provides a method for combining sensor data from all sensors which present different information. This work presents control architecture for behavior-based mobile robot which is able to interact with an unknown environment using a reactive strategy determined by sensory information. Recent research in robotics aims to construct autonomous and intelligent robots, which can plan its motion in a self-motivated environment. Autonomous mobile robots are progressively more used in well-structured environment such as warehouses, offices and industries. Author designs a fuzzy logic approach and propose an obstacle avoidance algorithm for a path planning in unknown environment for a mobile robot. The ultrasonic sensors are working for detecting the distance to obstacles and their positions. An angular velocity control for left and right wheels are implemented by a fuzzy logic approach. In this paper, a new approach to a rule-based fuzzy controller is proposed which is induced from the consideration of the distance to obstacles and the angle between the robot and the goal.
Keywords: Fuzzy logic approach, mobile robot, obstacle avoidance, ultrasonic sensor.
