Title: Optimal trajectory of a mobile robot using hierarchical fuzzy logic controller

Authors: Chokri Rekik; Mohamed Jallouli; Nabil Derbel

Addresses: Control and Energy Management Lab (CEM Lab), Sfax Engineering School, University of Sfax, BP W, 3038 Sfax, Tunisia ' Control and Energy Management Lab (CEM Lab), Sfax Engineering School, University of Sfax, BP W, 3038 Sfax, Tunisia ' Control and Energy Management Lab (CEM Lab), Sfax Engineering School, University of Sfax, BP W, 3038 Sfax, Tunisia

Abstract: This paper presents the development of a complete navigation problem of an autonomous mobile robot. The problem for which the robot tries to reach the target is treated using a hierarchical fuzzy logic controller HFLC. The optimisation of the consequences of fuzzy rules is solved using genetic algorithms. A new approach based on HFLC is presented in this paper to avoid collisions with obstacles. In fact, HFLC consists of a number of low-dimensional standard fuzzy systems connected in a hierarchical fashion. Hence, it can provide a good candidate for solving high-dimensional problems. Simulation results show that the designed hierarchical fuzzy controller gives good trajectory of the robot from its current position to the target with obstacle avoidance.

Keywords: hierarchical FLC; HFLC; fuzzy logic control; controller design; genetic algorithms; robot navigation; obstacle avoidance; optimal trajectory; mobile robots; robot trajectories; autonomous robots; collision avoidance; simulation.

DOI: 10.1504/IJCAT.2016.076807

International Journal of Computer Applications in Technology, 2016 Vol.53 No.4, pp.348 - 357

Received: 12 Mar 2014
Accepted: 09 Feb 2015

Published online: 24 May 2016 *

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