이동로봇의 장애물 회피를 위한 계층적 퍼지 제어기 설계

Hierarchical Fuzzy Logic Controller Design for Obstacle Avoidance of a Mobile Robot

This paper addresses that through the use of Fuzzy Logic Control, a reactiv behavior (e.g. avoiding obstacles on the way) are smoothly blended into one sequence of control action. In this classical problem, the aim is to guide a mobile robot along its path to avoid any static obstacles in front of it. This controller presented here uses three sub-controllers. This fuzzy controller was apply to a miniature mobile robot. This robot follows a left wall, maintining a minimum distance.