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Article Information:
A Fuzzy Logic Behavior Architecture Controller for a Mobile Robot Path Planning in Multi-obstacles Environment
KarimBenbouabdallah and Zhu Qi-dan
Corresponding Author: Karim Benbouabdallah
Submitted: October 17, 2012
Accepted: December 17, 2012
Published: April 20, 2013 |
Abstract:
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The path planning and obstacle avoidance are the most important tasks for an autonomous mobile robot moving in an unknown environment. This paper presents a simple fuzzy logic controller which involves searching target and path planning with obstacle avoidance. In this contest, fuzzy logic controllers are constructed for target searching behavior and obstacle avoidance behavior based on the distance and angle between the robot and the target as inputs for the first behavior and the distance between the robot and the nearest obstacle for the second behavior; then a third fusion behavior is developed to combine the outputs of the two behaviors to compute the speed of the mobile robot in order to fulfill its task properly. Simulation results show that the proposed approach is efficient and can be applied to the mobile robots moving in unknown environments.
Key words: Behavior architecture, fuzzy controller, mobile robot, obstacle avoidance,, path planning, ,
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Cite this Reference:
KarimBenbouabdallah and Zhu Qi-dan, . A Fuzzy Logic Behavior Architecture Controller for a Mobile Robot Path Planning in Multi-obstacles Environment. Research Journal of Applied Sciences, Engineering and Technology, (14): 3835-3842.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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