The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Fuzzy-Based Controller for Differential Drive Mobile Robot Obstacle Avoidance

Srdjan Mitrovic
Military Academy Belgrade

Zeljko Djurovic
University of Belgrade, School of Electrical Engineering

This paper presents a new methodology for the avoidance of one or more obstacles, and for the navigation of a differential-drive mobile robot. The approach is based on fuzzy logic with virtual fuzzy magnets, and represents a reactive controller for navigation through an unknown environment to the ultimate target. Relative parameters of the obstacle in the robot’s way are determined at the preprocessing stage and the algorithm is therefore applicable to obstacles of different sizes. The algorithm, designed to avoid a single stationary obstacle, was generalized and successfully applied in a multiple-obstacle navigation scenario. The efficiency of the algorithm is illustrated by computer simulations using the kinematic model of a mobile robot.


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