Control a mobile robot in Social environments by considering human as a moving obstacle

Abstract

in this paper a comprehensive control method for a mobile robot with non-holonomic constraints, which can be used in dynamic environments with fixed and moving unpredictable obstacles presented. This issue becomes more complicated when obstacles involve humans act as a moving obstacle without any data while erratic behaviors and reactions are important. In this regard, fuzzy logic algorithm whose rules are developed for these conditions suggest for two distinct strategies: (1) Regulation between two points and (2) Path tracking. The main contribution of this paper includes defining the fuzzy logic role for human environments which are affected the robot speed and rout, considering the target position and its variation during the robot motion. The proposed controller algorithm simulated in three modes: (1) Fixed obstacles, (2) Moving obstacles and (3) Moving both of obstacles and target. These approaches can be used in social robotic, humanoid robots, and educational robots.