Sensor Based Control of Autonomous Wheeled Mobile Robots

The paper deals with the wireless sensor-based remote control of mobile robots motion in an unknown environment with obstacles using the Sun SPOT technology and gives the fuzzy velocity control of a mobile robot motion in an unknown environment with slopes and obstacles. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. When the vehicle is moving towards the target and the sensors detect an obstacle or slopes, an avoiding strategy and velocity control are necessary. We proposed the wireless sensor-based remote control of mobile robots motion in an unknown environment with obstacles using the Sun SPOT technology and a fuzzy reactive navigation strategy of collision-free motion and velocity control in an unknown environment with slopes and obstacles. Outputs of the fuzzy controller are the angular speed difference between the left and right wheels of the vehicle and the vehicle velocity. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unknown environment and velocity control of the proposed fuzzy control strategy. The proposed method have been implemented on the miniature mobile robot Khepera® that is equipped with sensors and the free range Spot.