Outdoor vision-based obstacle avoidance for autonomous land vehicle using fuzzy logic

2011 ◽  
Author(s):  
Tian-Xiang Chen ◽  
Zong-Ru Zhuang ◽  
Rong-Chin Lo ◽  
Yong-Ming Hong
Keyword(s):  
Fuzzy Logic ◽  
Obstacle Avoidance ◽  
Land Vehicle ◽  
Outdoor Vision

Fuzzy Logic Controller for Obstacle Avoidance of Mobile Robot

2019 ◽  
Vol 20 (1) ◽  
pp. 51-62
Author(s):  
Rajmeet Singh ◽  
Tarun Kumar Bera
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Dynamic Model ◽  
Obstacle Avoidance ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Bond Graph ◽  
Membership Functions ◽  
Current Position ◽  
Dc Motors

AbstractThis work describes design and implementation of a navigation and obstacle avoidance controller using fuzzy logic for four-wheel mobile robot. The main contribution of this paper can be summarized in the fact that single fuzzy logic controller can be used for navigation as well as obstacle avoidance (static, dynamic and both) for dynamic model of four-wheel mobile robot. The bond graph is used to develop the dynamic model of mobile robot and then it is converted into SIMULINK block by using ‘S-function’ directly from SYMBOLS Shakti bond graph software library. The four-wheel mobile robot used in this work is equipped with DC motors, three ultrasonic sensors to measure the distance from the obstacles and optical encoders to provide the current position and speed. The three input membership functions (distance from target, angle and distance from obstacles) and two output membership functions (left wheel voltage and right wheel voltage) are considered in fuzzy logic controller. One hundred and sixty-two sets of rules are considered for motion control of the mobile robot. The different case studies are considered and are simulated using MATLAB-SIMULINK software platform to evaluate the performance of the controller. Simulation results show the performances of the navigation and obstacle avoidance fuzzy controller in terms of minimum travelled path for various cases.

Generating Navigational Audio Instructions Using Fuzzy Logic

2015 ◽  
Vol 220-221 ◽  
pp. 435-438
Author(s):  
Jan Hrbacek ◽  
Vladislav Singule
Keyword(s):  
Fuzzy Logic ◽  
Obstacle Avoidance ◽  
Urban Areas ◽  
Visually Impaired ◽  
Information Unit ◽  
Surrounding Environment ◽  
University Of Technology ◽  
Fuzzy Techniques ◽  
And Robotics

The paper presents the application of fuzzy logic principles to generation of audio instructions. The described subsystem forms a part of an information unit for the visually impaired, which is developed at the Institute of Production Machines, Systems and Robotics at Brno University of Technology. The unit will provide visually impaired users with the localization, navigation and obstacle avoidance functionality as well as enable them to independently traverse through previously unvisited (primarily urban) areas. The majority of sightless persons are able to traverse such areas only with human accompaniment that compensates their missing knowledge of the surrounding environment. The utilization of fuzzy techniques brings the human-like behaviour of the navigational interface and a scalable mechanism for generating navigational instructions.

Design and Implementation of an Intelligent Cleaning Robot Based on Fuzzy Control

2014 ◽  
Vol 1003 ◽  
pp. 221-225
Author(s):  
Hai Yan Liu
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Control ◽  
Obstacle Avoidance ◽  
Control Method ◽  
Sensor System ◽  
Service Robots ◽  
Design And Implementation ◽  
Cleaning Robot ◽  
New Development ◽  
Development Area

Nowadays, intelligent cleaning robot is widely used in housecleaning, hotel and office for cleaning in a half--automatic way or full--automatic way. In recent years, the development of cleaning robot has brought increasing attention in overseas and domestic, and it has become a new development area in the field of service robots. This paper designs an intelligent cleaning robot, which could realize move freely under the control of obstacle avoidance strategies based on the fuzzy logic. According to the information of obstacles from the sensor system, the obstacle avoidance system is built by the fuzzy control method to make the cleaning robot avoid the obstacles autonomously.

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