Implementation of Fuzzy-Based Robotic Path Planning

Abstract

Path planning is one of the prime robot problems which essentially call for smooth navigation of the robot through an optimal path by avoiding barriers of any kind. In this work, Fuzzy Logic approaches are attempted and compared for obstacle avoidance through an unknown environment. In this approach, it considers inputs from sensors placed on the robot, which include the distance from nearest obstacle towards left, front and right besides the information on the angular variation from the target. The fuzzy rules are employed to control the velocity of left and right wheels of the robot. A defuzzification procedure is applied to the left and right velocity wheels, and results are compared with the defuzzified values obtained from Sugeno-weighted average method. The second approach ignores the four inputs and follows the same fuzzy technique. A comparison of the two approaches indicates that the first method is more precise. Finally path planning using Sugeno-based fuzzy logic controller has implemented in I robot Create (mobile robot) by interfacing with Arduino Uno.