Hierarchical fuzzy obstacle avoidance control of omnidirectional mobile robot for substation inspection

Abstract

There are some limitations in the practical application of robot obstacle avoidance control methods. In order to realize the high-speed planning and obstacle avoidance processing of mobile robot, the path model, inspection route and path obstacles of the robot must be fully considered. Through feature extraction, the reasonable planning of substation inspection obstacle avoidance route is realized, and the control quantity set satisfying substation inspection is given. The hierarchical fuzzy obstacle avoidance control method of mobile robot is realized by using the optimal control set design. The simulation results show that the control method can solve various complex problems when the robot contour collides with obstacles, and can realize safe and fast control. The flexibility and robustness of obstacle avoidance are improved, and the motion state and speed of obstacles are also improved.

Movement strategies selection of a mobile robot to avoid obstacles

“…An analysis of publications shows different methods to solve the task of controlling mobile robot in dynamic environment depending on which conditions that the robot have to work in. The article [1,10] proposes the using of fuzzy logic to solve the problems of trajectory planning and control the robot so it's can bypass all obstacles. The rules of fuzzy method used to control the mobile robot wheels in order to avoid the obstacle using the linguistic variables "distance to the obstacle", "the location of the obstacle regarding the robot course".…”