Multi Modules Fuzzy Logic for Mobile Robots Navigation and Obstacle Avoidance in Unknown Indoor Dynamic Environment
نویسندگان
چکیده
Navigation of autonomous mobile robots in unknown environments is one of the most research area. Mobile robot can be used in many applications such as indoor and outdoor security patrols, material transport. In this paper, on-line navigation for autonomous mobile robot in dynamic and unknown indoor environment using multi modules fuzzy logic technique is investigated. Four fuzzy logic modules are developed and used to navigate Powerbot robot to its target. Goal Seeking Module (GSM), Static and Dynamic Obstacles Avoidance Module (SDOAM), Emergency Module (EM), and Robot Setting Module (RSM) are combined to perform the behaviors of reaching the target and avoid static and dynamic obstacles. The target of this work is to use the autonomous mobile robots in warehouse with dynamic and unknown environment. Experimental results show the success of the proposed algorithm.
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