Fuzzy based obstacle avoidance system for autonomous mobile robot

Rashed, Almutairi Saleh and Faris, Waleed Fekry and Fatai, Sado (2019) Fuzzy based obstacle avoidance system for autonomous mobile robot. In: 2018 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2018), 20th Oct. 2018, Shah Alam, Selangor.

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Abstract

The goal of this research was to develop a fuzzy obstacle avoidance system for an autonomous mobile robot using IR detection sensors. This paper presents implemented control architecture for behavior-based mobile robot. The mobile robot is able to interact with an unknown environment using a reactive strategy determined by sensory information. Current research in robotics aims to build autonomous and intelligent robots, which can plan its motion in a dynamic environment. Autonomous mobile robots are increasingly used in well structured environment such as warehouses, offices and industries. Fuzzy behavior able to make inferences is well suited for mobile robot navigation because of the uncertainty of the environment. A rule-based fuzzy controller with reactive behavior was implemented and tested on a two wheels mobile robot equipped with infrared sensors to perform collision-free navigation. The experimental results have shown that the proposed architecture provides an efficient and flexible solution for small wheeled mobile robots.

Item Type:	Conference or Workshop Item (Plenary Papers)
Additional Information:	4694/72604
Uncontrolled Keywords:	Autonomous vehicle, fuzzy control, traffic, static obstacles, dynamic obstacles.
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechanical Engineering
Depositing User:	Prof.Dr. Waleed Fekry Faris
Date Deposited:	13 Jun 2019 14:21
Last Modified:	13 Jul 2020 09:44
URI:	http://irep.iium.edu.my/id/eprint/72604

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