Fuzzy Control of a Mobile Robot for Guidance

Abstract

Investigations on fuzzy control of a mobile robot for obstacle avoidance in house based on finding permissible passageways using edges between the floor and the wall or obstacles obtained by processing image from CCD camera in front of the robot have been already conducted by T.Takeuchi et al. One objective of guidance control for autonomous mobile robot is to enable the robot to maneuver over an appropriate path to a destination point through an environment that is already known. Here we discuss guidance over paths that are specified in terms of maps, in which the passageways consist of only 90°turns and straight segments ; typical coditions in indoor workspaces. In order for the robot to advance along the designated path autonomously, the processing treats wrong path as virtual obstacles on the screen and the robot to advance in the designated direction. The robot guidance control based on the above method is simulated on personel computer using C-language and experimented, and its usefulness is demonstrated. The control program developed with simulation is transplanted into the robot and a path to a destination point from one point is specified due to order of passing intersections and directions to advance to next intersection in the map.