Fuzzy logic controller for robot navigation in an unknown environment

Citation

Shayestegan, Mohsen and Din, Abdul Sattar (2013) Fuzzy logic controller for robot navigation in an unknown environment. In: 2013 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2013), 29 Nov.-1 Dec. 2013, Penang, Malaysia. (pp. 69-73).

Abstract

This study aims to allow the robot to move safely without colliding with obstacles to reach a specified position in an unknown environment. To achieve the aim of the study, a fuzzy controller was proposed and employed in intelligent mobile robot navigation strategies within unknown environments. This fuzzy controller has four inputs (one target angle and three obstacle distance), two outputs (left and right speed) and 9 numbers of rules. A virtual mobile robot, E-puck robot in the Webots simulator was used to evaluate the performance of the proposed method. Few features such as time travelling, distance travelling of the output responses were analyzed. Comparisons are made between proposed fuzzy logic and Motlagh fuzzy controller. The simulation results were presented to verify the effectiveness of the proposed architectures in an unknown environment.

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Additional Metadata

Item Type:	Conference or Workshop Item (Paper)
Divisions:	Faculty of Engineering
DOI Number:	https://doi.org/10.1109/ICCSCE.2013.6719934
Publisher:	IEEE
Keywords:	Fuzzy controller; Unknown environment; Mobile robot navigation
Depositing User:	Nabilah Mustapa
Date Deposited:	04 Aug 2020 02:38
Last Modified:	04 Aug 2020 02:38
Altmetrics:	http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.1109/ICCSCE.2013.6719934
URI:	http://psasir.upm.edu.my/id/eprint/44867
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