Intelligent Controller for Mobile Robot: Fuzzy Logic Approach

ABSTRACT: A key issue in the research of an autonomous mobile robot is the design and development of an intelligent controller which can control and enables the robot to navigate in a real world environment, avoiding structured and unstructured obstacles especially in crowded and unpredictably changing environment, whether it is in land, underground, under water, on the air or in space. An intelligent system has the ability to act appropriately in an uncertain environment, where an appropriate action is that which increases the probability of success, and success is the achievement of behavioral sub goals that support the system's ultimate goal. This paper presents the development in the area of intelligent controller for mobile robot in various (known and unknown) environments. A successful way of structuring the navigation task deal with the issues of individual behaviour design and action coordination. The behaviours will be addressed using fuzzy logic in the present research. The inputs to the proposed fuzzy control scheme consist of a heading angle between a robot and a specified target and the distances between the robot and the obstacles to the left, front, and right to its locations, being acquired by an array of sensors. In this paper, we proposed an intelligent controller for mobile robot navigation algorithm employing fuzzy theory in a complex cluttered environment. Simulation results verified the effectiveness of the controllers.