Tuning of Fuzzy Rules in Obstacle Avoidance for Autonomous Mobile Robot DREAM-3

Abstract

It is expected that an aging society visits in recent years. It is thought that a care worker's burden also increases corresponding to it. In such a situation, research and development of the wheelchair type autonomous mobile robot DREAM-3 is done to the care for elderly people or a physically handicapped person. In employing DREAM-3, the problem of obstacle avoidance is indispensable to be solved. In this paper, the traveling pattern for avoiding an obstacle is newly added, and the method of the optimization by a genetic algorithm (GA) is proposed to construct the membership function for the traveling pattern.