Autonomous Wheeled Mobile Robot Control

Abstract

The autonomous wheeled mobile robots are very interesting subject both in scientific research and practical applications. The article deals with the fuzzy control of autonomous wheeled mobile robotic platform motion in an unstructured environment with obstacles. The simulation results show the effectiveness and the validity of the obstacle avoidance behaviour in unstructured environments and the velocity control of a wheeled mobile robotic platform motion of the proposed fuzzy control strategy.

Development of Autonomous Anthropomorphic Wheeled Mobile Robotic Platform

“…When the autonomous mobile robotic platform is moving towards the target and the sensors detect an obstacle, an avoiding strategy is necessary [3][4][5][6][7][8][9][10][11][12][13]. While the autonomous mobile robotic platform is moving it is important to compromise between [13]:  avoiding the obstacles and  moving towards the target position.…”

“…While the autonomous mobile robotic platform is moving it is important to compromise between [13]:  avoiding the obstacles and  moving towards the target position.…”

“…With obstacles present in the unknown environment, the autonomous mobile robotic platform reacts based on both the sensed information of the obstacles and the relative position of the target [13]. In moving towards the target and avoiding obstacles, the autonomous mobile robotic platform changes its [13]:  orientation and  velocity.…”

“…In moving towards the target and avoiding obstacles, the autonomous mobile robotic platform changes its [13]:  orientation and  velocity.…”

“…When an obstacle in an unknown environment is very close, the mobile robot slows down and rapidly changes its orientation [13]. The navigation strategy has to come as near as possible to the target position while avoiding collision with the obstacles in an unknown environment [13].…”