Title: An effective DVZ-fuzzy logic pilot for a mobile robot using generic architecture

Authors: Lobna Amouri; Cyril Novales; Mohamed Jallouli; Gérard Poisson; Nabil Derbel

Addresses: Institut PRISME, Université d'Orléans, 63 avenue de Lattre de Tassigny, F-18020 Bourges Cedex, France; National Engineering School of Sfax (ENIS), University of Sfax, 3038 Sfax, Tunisia ' Institut PRISME, Université d'Orléans, 63 avenue de Lattre de Tassigny, F-18020 Bourges Cedex, France ' National Engineering School of Sfax (ENIS), University of Sfax, 3038 Sfax, Tunisia ' Institut PRISME, Université d'Orléans, 63 avenue de Lattre de Tassigny, F-18020 Bourges Cedex, France ' National Engineering School of Sfax (ENIS), University of Sfax, 3038 Sfax, Tunisia

Abstract: This paper proposes a discussion of a generic controller which is based on a hybrid fuzzy-DVZ algorithm that drives a robotic wheelchair to a desired target and remains free of collision. Furthermore, it overcomes a corner situation constraint that is present in a number of obstacle avoidance strategies in the literature. This algorithm is reactive and generic, but the obtained experimental paths are not optimised and to do so we have used a collaborative assistance using a 2D interface with virtual moving targets. Results are demonstrated in experimental tests.

Keywords: generic architecture; collaborative assistance; obstacle avoidance; path following; fuzzy switching; 2D interface; robotic wheelchairs; mobile robots; wheelchair control; collision avoidance; robot control; deformable virtual zone; DVZ; controller design.

DOI: 10.1504/IJVAS.2014.062977

International Journal of Vehicle Autonomous Systems, 2014 Vol.12 No.3, pp.201 - 220

Accepted: 01 May 2013
Published online: 29 Oct 2014 *

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