Autonomous Navigation with Obstacle Avoidance of Tricycle Mobile Robot Based on Fuzzy Controller

被引：0
|
作者：
Melik, Nassima [1 ]
Slimane, Noureddine [2 ]
机构：
[1] Univ Batna, Dept Elect, Fac Technol, Batna, Algeria
[2] Univ Batna, Adv Elect Lab, Batna, Algeria
来源：
2015 4TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING (ICEE) | 2015年
关键词：
tricycle mobile robot; autonomous navigation; obstacles ovoidance; fuzzy logic controller; reactive controller;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
One of the main issues in mobile robotics is the autonomous navigation of a mobile robot in an unknown environment. In this paper, a fuzzy controller for an autonomous navigation of mobile robot type tricycle in a partially known environment is proposed. Two controllers are developped, the first for a free navigation and the second for a navigation with avoidance of obstacles presents in evolution environment of mobile robot using an obstacles detection module. The selected fuzzy controller for the various missions of the mobile robot is Takagi-Sugeno type of order zero (TS0). Simulation works under various configurations of the workspace is undertaken and show a good convergence of the proposed controller.
引用
下载
收藏
页码：228 / +
页数：4
相关论文
共 50 条
  • [41] Obstacle Avoidance using Fuzzy Controller for Unicycle Robot
    Oultiligh, Ahmed
    Ayad, Hassan
    Pozna, Claudiu
    Mogan, Gheorghe
    ELbouzekraoui, Mohammed
    Elkari, Badr
    2020 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND DIAGNOSIS (ICCAD), 2020, : 237 - 242
  • [42] A Robot Manipulator with Adaptive Fuzzy Controller in Obstacle Avoidance
    Sreekumar M.
    Journal of The Institution of Engineers (India): Series C, 2016, 97 (3) : 469 - 478
  • [43] Autonomous navigation and obstacle avoidance of an omnidirectional mobile robot using swarm optimization and sensors deployment
    Ajeil, Fatin Hassan
    Ibraheem, Ibraheem Kasim
    Azar, Ahmad Taher
    Humaidi, Amjad J.
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2020, 17 (03)
  • [44] Study of Obstacle Avoidance Based on Fuzzy Planner for Wheeled Mobile Robot
    Duan, Suolin
    Li, Yunfeng
    Chen, Shuyue
    Chen, Lanping
    Zou, Ling
    Ma, Zhenghua
    Ding, Ji
    2011 9TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2011), 2011, : 672 - 676
  • [45] Control Scheme for Obstacle Avoidance Navigation of Autonomous Mobile Robots
    Choi, Youn-Ho
    Lee, Dong-Ha
    2014 17TH INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS (ICEMS), 2014, : 2256 - 2259
  • [46] Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation
    Omrane, Hajer
    Masmoudi, Mohamed Slim
    Masmoudi, Mohamed
    COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE, 2016, 2016
  • [47] Fuzzy System for Obstacle Detection and Avoidance for Mobile Robot
    Andrade, Alexsandra Oliveira
    Almeida Silva, Tharcio Thalles
    Gomes, Iago Pacheco
    Goncalves, Luiz Marcos G.
    2019 LATIN AMERICAN ROBOTICS SYMPOSIUM, 2019 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR) AND 2019 WORKSHOP ON ROBOTICS IN EDUCATION (LARS-SBR-WRE 2019), 2019, : 180 - 185
  • [48] Fuzzy logic techniques for mobile robot obstacle avoidance
    Reignier, Patrick
    Robotics and Autonomous Systems, 1994, 12 (3-4) : 143 - 153
  • [49] Obstacle Avoidance of Mobile Robot using Fuzzy Logic and Hybrid Obstacle Avoidance Algorithm
    Singh, R.
    Bera, T. K.
    2ND INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHANTRONICS, 2019, 517
  • [50] Hierarchical fuzzy controller to avoid mobile obstacle for a mobile robot
    Boujelben, Maissa
    Rekik, Chokri
    Derbel, Nabil
    2013 10TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD), 2013,
12345