A NEW FUZZY-LOGIC SOLUTION TO MOBILE ROBOT LOCAL NAVIGATION USING SMOOTH ACTUAL-VIRTUAL TARGET SWITCHING

– A new fuzzy logic control system is developed for reactive navigation of a 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 ends 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. Final results from robot trajectories are demonstrated by simulation work in compression with results from other related methods to show the effectiveness of the roposed approach.

کلیدواژه ها:

fuzzy logic control ، virtual target ، autonomous robot ، path planning ، local minimum