Sensor-Based Robot Navigation in Uncertain Environments Using Fuzzy Logic

This paper presents a new method for sensor-based mobile robot navigation in unknown environments using fuzzy logic. The inputs to the fuzzy control scheme consist of a heading angle between the robot and a specified target and distances between the robot and obstacles to the left, front, and right locations. The outputs from the control scheme are commands for the speed control unit of two rear wheels of a mobile robot. Distances between the robot and obstacles are acquired by an array of ultrasonic sensors. Current coordinates of the robot are measured by a wheel ancoder system. The velocities of the driving wheels are controlled by a motor drive unit. The main idea of the proposed method is quantitatively to formulate reactive behaviors and efficiently to coordinate their conflicts and competitions by fuzzy sets and fuzzy rules. Simulation results show that the proposed method can be efficiently applied to robot navigation in complex and uncertain environments based on sensors.