A FUZZY LOGIC BASED NAVIGATION SYSTEM FOR A MOBILE ROBOT IN UNCERTAIN ENVIRONMENT

Authors

  • Ivan Hryhorovych Tsmots Національний університет «Львівська політехніка», Ukraine
  • Vasyl Mykolaiovych Tesliuk Національний університет «Львівська політехніка», Ukraine
  • Andrii Bohdanovych Romaniuk Національний університет «Львівська політехніка», Ukraine
  • Iryna Yevhenivna Vavruk Національний університет «Львівська політехніка», Ukraine

DOI:

https://doi.org/10.20535/1813-5420.4.2015.53754

Keywords:

mobile robotic system, fuzzy logic, uncertain environment, behavior-based control

Abstract

The control system based on fuzzy logic that enables achieving goals by mobile robotic system in an uncertain environment with obstacles is proposed. We suggest to apply some additional behaviors such as “movement along the right wall” and “movement along the left wall” for implementation of mobile robot motion control. Fuzzy rules for each of behaviors units and speed control unit are realized. A method for coordination conflicts among behaviors is developed.The velocity control unit, which provides more accurate and rapid goal achievement by decreasing speed when obstacles or goal is near robotic system and increasing speed otherwise. References 9, tables 3, figures 2.

References

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Published

2015-12-07