Efficient Fuzzy-logic Control of Indoor Mobile Robots Evolving in Static and Dynamic Workspaces

Authors:
Preprint
Publisher website
Google Scholar
Abstract
This paper presents an efficient motion control approach for indoor mobile robots in both static and dynamic workspaces. The proposed system consists of two layers. In the Optimization Layer (Global planner), a Deterministic Constructive Algorithm (DCA) generates the best path for the mobile robot, represented as a set of nodes, to move from the initial position (Source) to the final position (Target) while avoiding the static obstacles. The Control layer (Local planner), which is the main focus of this article, consists of an Efficient Fuzzy-Logic Controller (EFLC), mimicking the human reasoning, to avoid the dynamic obstacles and drive safely the mobile robot along the generated path. The strength of the proposed EFLC approach is shown using V-REP software in dynamic workspaces.

This publication has 9 references indexed in Scilit: