Title: Duel fuzzy logic controllers design for autonomous robot navigation

Authors: Kiwon Park; Nian Zhang

Addresses: Department of Biomedical Engineering, South Dakota School of Mines and Tech., 501 E. St. Joseph Street, Rapid City, SD 57701, USA. ' Department of Electrical and Computer Engineering, University of the District of Columbia, 4200 Connecticut Avenue, NW 20008, Washington DC, USA

Abstract: A robot navigation system based on two fuzzy logic controllers has been developed to overcome the challenging problem in complex terrain navigation. While one fuzzy controller perform the regular navigation including target steering, avoiding obstacles and following the edge of obstacles, a novel fuzzy controller is designed for the robot to only follow the edge of obstacles until finding the exit to the difficult scenarios, such as U-shape obstacles. Simulation results show that our approach beats the traditional fuzzy logic controller in both escaping ability from U-shaped obstacle and steering ability.

Keywords: fuzzy control; fuzzy logic controllers; robot navigation; robot control; complex terrain; obstacle avoidance; collision avoidance; edge following; simulation.

DOI: 10.1504/IJSCC.2011.042437

International Journal of Systems, Control and Communications, 2011 Vol.3 No.3, pp.322 - 329

Published online: 11 Sep 2011 *

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