A New Mobile Robot Navigation Algorithm

A New Mobile Robot Navigation Algorithm

By using Fuzzy Logic Control and Virtual Target Technique





Dr. Omid Reza Esmaeili Motlagh





Intelligent Systems and Robotics (ISRL) Lab

Institute of Advanced Technology, University Putra Malaysia (UPM), Malaysia









Abstract – A new fuzzy logic control system is developed for reactive navigation of a behavior-based mobile robot. The robot perceives its environment through an array of eight sonar sensors and self positioning-localization sensors. While the fuzzy logic body of the algorithm performs the main tasks of obstacle avoidance, target seeking and speed control, an actual-virtual target switch strategy enables the robot to wall following behavior when needed. This significantly results in resolving the problem of limit cycles in any type of multiple dead end in local navigation which is an advantage beyond pure fuzzy logic approach and common virtual target techniques.



In this work, multiple traps may have any shape or arrangement from barriers forming simple corners and U-shape dead ends to loops, maze, snail shape, and other complicated shapes. Under control of the algorithm, the robot makes logical trajectories, avoids any obstacle, and adjusts its speed efficiently for better obstacle avoidance and according to power considerations and actual limits. Final trajectory results are demonstrated by simulation work in compression with results from other related methods to show the effectiveness of the proposed approach.



1. Introduction



Autonomous mobile robots defined as robots capable of intelligent motion and action without requiring either a guide to follow or a tele-operator control, which involves the integration of many different bodies of knowledge. This makes mobile robotics a challenge worthwhile. Mobile robot local path planning or also called reactive navigation in an...