Application of fuzzy control to a sonar-based obstacle avoidance mobile robot

This paper describes how fuzzy control can be applied to sonar based obstacle avoidance of HelpMate mobile robot. Behavior-based fuzzy control for HelpMate mobile robot was designed. The design and implementation of fuzzy control system is described. The fuzzy controller provides the mechanism for solving sensor data from all sonar sensors which present different information. Behavior-based approach is implemented as an individual high priority behavior. Using behavior-based solves architecture of behavior selection problem. The highest level behavior is called task-oriented behavior, which consists of two subtasks, wall following and goal following. The lower level is obstacle avoidance behavior. The lowest is an emergency behavior. Visual Basic 6 code was developed for implementation. The fuzzy inference system was created. Helpmate obstacle avoidance was implemented. The result shown that each behavior is work correctly. The HelpMate robot can avoid all obstacles that are detected by sonar sensors.