Mobile robot obstacle avoidance in various type of static environments using fuzzy logic approach

Abstract

Autonomous mobile robot is a mobile robot that can move without human supervision. The use of autonomous mobile robots has increased in various fields such as in the industrial, agricultural, and military sectors. This paper presents the development of a mobile robot that uses Fuzzy Logic approach to control a robot's movement in an area cluttered with static obstacles. In the experiment presented herewith, the controller was programmed with 256 Fuzzy Logic rules and the input to the system is from an E-puck robot that is equipped with infrared sensors. Webot Pro and Matlab are the software used in the development and simulation of the robot. The mobile robot was designed to move and avoid static obstacles. The performance of the mobile robot was evaluated from the way it avoids the obstacles, and the time taken when it move from a starting point to an end point. The results showed that the robot could avoid the obstacle successfully in various types of static environments. This research also indicated that WEBOT and Mathlab are suitable tools that could be use to develop and simulate mobile robot navigation system.