Abstract
In this paper, we investigate the path following control strategy for a mobile robot with unknown obstacles detected on the planned path. For a known space with known obstacles, the path planning methods can generate the shortest collision-free path from the start to the end. The unknown obstacles may appear on the planned path and the mobile may not follow the original path. The obstacle avoidance mode is added into the controller in the research. Fuzzy controllers with the five distance sensors on the mobile can guide the mobile successfully. The computer simulations are given to verify the proposed algorithm. We find that locations and directions of the distance sensors will affect the results.
