A local guidance method for low-cost mobile robots using fuzzy logic

Abstract

A local guidance control method for wheeled mobile vehicles equipped with low-cost sensors is presented. This method uses fuzzy logic to provide a smooth path which is not necessarily optimal in distance and/or power consumption but allows guidance, obstacle avoidance and docking using few ultrasound sensors. The module that implements this method receives objectives from a Global Path Generation module as points that the robot should pass by at a specified orientation and speed. An important aspect of this method is that it does not require expensive sensors to create a good map of its surrounding because it relies only on range information provided by inexpensive sensors. Using only this range information also provides real-time performance at low cost.