Visual Fuzzy Logic Path Planning Controller for Mobile Robots

The fuzzy logic controller for mobile robots that tuned by genetic algorithm is designed for path planning in unknown environments. The path planning is very important for moving a robot to a specific position even there is a changing in the environment. The robot should recognize the environment around himself by using navigation plan which make the robot to accomplish the mission. This design has two levels: the planner level and motion controller level. The planner level based on visual data by Speeded Up Robust Features algorithms to generate the path to the destination and avoid obstacles. The motion controller responsible about the wheels velocity of the robot. The simulations results show a good performance for the approach as well as the real experiments show the applicability of the system.