fuzzy logic based control for autonomous mobile robot navigation

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ID: 247221
2016
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Ranked #58 of 77 articles by views in Organic Chemistry Frontiers

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Abstract
This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path.
Reference Key
omrane2016computationalfuzzy Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Hajer Omrane;Mohamed Slim Masmoudi;Mohamed Masmoudi
Journal Organic Chemistry Frontiers
Year 2016
DOI
10.1155/2016/9548482
URL
http://dx.doi.org/10.1155/2016/9548482
Keywords
computer applications to medicine medical informaticsneurosciences neuropsychiatry biological psychiatry

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