EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON THE FUZZY LOGIC

International Journal of Fuzzy Logic Systems (IJFLS) ISSN : 1839 â&#x20AC;&#x201C; 6283

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Wireilla Scientific Publications

EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON THE FUZZY LOGIC Hamed Khosravi and Seyed Ghorshi

Wireilla Scientific Publications AIRCC Publishing Corporation

Abstract The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted based on the robot's distance from obstacles, and the target position relative to the instantaneous orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also, Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy systems are determined based on the estimation of the localization process, the information of the obstacles center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile robot are determined by the desired fuzzy structures which are applied to its kinematic model.

Wireilla Scientific Publications AIRCC Publishing Corporation

Keywords • Mobile robot • Fuzzy logic • Effective redirecting

Wireilla Scientific Publications AIRCC Publishing Corporation

AIRCC Publishing Corporation

Wireilla Scientific Publications AIRCC Publishing Corporation

Wireilla Scientific Publications AIRCC Publishing Corporation

Wireilla Scientific Publications AIRCC Publishing Corporation

Wireilla Scientific Publications AIRCC Publishing Corporation

Wireilla Scientific Publications AIRCC Publishing Corporation

Wireilla Scientific Publications AIRCC Publishing Corporation

Wireilla Scientific Publications AIRCC Publishing Corporation

Wireilla Scientific Publications AIRCC Publishing Corporation

Wireilla Scientific Publications AIRCC Publishing Corporation

CONCLUSION The proposed structure consists of two main subsystems: localization based on the extended Kalman filter and fuzzy logic based redirecting. In order to form an automated redirecting system, it is assumed that circular obstacles are located with determined position in the robotâ&#x20AC;&#x2DC;s workspace. Also, the target position is specified in the space. The purpose of the controlling system is to accurately redirect the robot from source toward target position without collision with obstacles. For this purpose, two fuzzy systems were considered. The input components of both systems are the obstacle distance from the center of the left, right, and direct obstacles of the mobile robot and the target orientation. Based on the information received from these components and the formation of a suitable fuzzy rule base, the instantaneous orientation of the robot is determined by the first fuzzy system and the linear acceleration of the mobile robot by the second fuzzy system.

Wireilla Scientific Publications AIRCC Publishing Corporation

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Wireilla Scientific Publications AIRCC Publishing Corporation

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EFFECTIVE REDIRECTING OF THE MOBILE ROBOT IN A MESSED ENVIRONMENT BASED ON THE FUZZY LOGIC

Published on Aug 3, 2018

ABSTRACT The use of fuzzy logic in redirecting mobile robot is based on two sets of received information. First set is the instantaneous distance of the robot from the obstacle and second set is the instantaneous information of the robot's position. For this purpose, the fuzzy rules base consists of forty-two bases, which is extracted based on the robot's distance from obstacles, and the target position relative to the instantaneous orientation of the robot. In the structure of fuzzy systems, minimal inference engine are considered. Also, Extended Kalman filter is used for localization in a noisy environment. Accordingly, the inputs of the fuzzy systems are determined based on the estimation of the localization process, the information of the obstacles center and the target position. Also, the linear acceleration and instantaneous orientation of the mobile robot are determined by the desired fuzzy structures which are applied to its kinematic model.

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