Intelligent Mobile Robot Control in Unknown Environments

This paper gives the fuzzy reactive control of a wheeled mobile robot motion in an unknown environment with obstacles. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. When the vehicle is moving towards the target and the sensors detect an obstacle, an avoiding strategy is necessary. We proposed a fuzzy reactive navigation strategy of collision-free motion in an unknown environment with obstacles. First, the vehicle kinematics constraints and kinematics model are analyzed. Then the fuzzy reactive control of a wheeled mobile robot motion in an unknown environment with obstacles is proposed. Output of the fuzzy controller is the angular speed difference between the left and right wheels (wheel angular speed correction) of the vehicle. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unknown environment of the proposed fuzzy control strategy.

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© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  1. 1.Department of Informatics University of SzegedSzegedHungary

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