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A Fuzzy Control of Autonomous Mobile Robot for Obstacle Avoidance  

Chae Moon-Seok (목원대학교 대학원 IT공학과)
Jung Tae-Young (㈜비연테크)
Kang Suk-Bum (목원대학교 대학원 IT공학과)
Yang Tae-Kyu (목원대학교 대학원 IT공학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.10, no.9, 2006 , pp. 1718-1726 More about this Journal
Abstract
In this paper, we proposed a fuzzy controller and algorithm for efficiently obstacle avoidance in unknown space. The ultrasonic sensor is used for position and distance recognition of obstacle, and fuzzy controller is used for left and right wheels angular velocity control. The fuzzification is used singleton method and the control rule is each wheel forty-nine. The fuzzy inference is used simplified Mamdani's reasoning and defuzzification is used SCOG(Simplified Center Of Gravity). The computer simulation based on mobile robot modelling was performed for the capacity of fuzzy controller and the really applicable possibility revaluation of the proposed avoidance algorithm and fuzzy controller. As a result, mobile robot was exactly reached in target and it avoided obstacle efficiently.
Keywords
fuzzy controller; mobile robot; obstacle avoidance;
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