Fuzzy System for Obstacle Detection and Avoidance for Mobile Robot

Andrade, Alexsandra Oliveira; Silva, Tharcio Thalles Almeida; Gomes, Iago Pachêco; Gonçalves, Luiz Marcos Garcia

doi:10.1109/lars-sbr-wre48964.2019.00039

Cited by 2 publications

(1 citation statement)

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“…A system using fuzzy logic was proposed in Ref. [16] for detecting and avoiding different types of obstacles. Data coming from a ZED stereo camera were mainly exploited for making decisions based on fuzzy predicates.…”

Section: Introductionmentioning

confidence: 99%

Obstacles Avoidance for Mobile Robot Using Type-2 Fuzzy Logic Controller

2022

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Intelligent mobile robots need to deal with different kinds of uncertainties in order to perform their tasks, such as tracking predefined paths and avoiding static and dynamic obstacles until reaching their destination. In this research, a Robotino® from Festo Company was used to reach a predefined target in different scenarios, autonomously, in a static and dynamic environment. A Type-2 fuzzy logic controller was used to guide and help Robotino® reach its predefined destination safely. The Robotino® collects data from the environment. The rules of the Type-2 fuzzy logic controller were built from human experience. They controlled the Robotino® movement, guiding it toward its goal by controlling its linear and angular velocities, preventing it from colliding obstacles at the same time, as well. The Takagi–Sugeno–Kang (TSK) algorithm was implemented. Real-time and simulation experimental results showed the capability and effectiveness of the proposed controller, especially in dealing with uncertainty problems.

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Section: Introductionmentioning

confidence: 99%