Fuzzy logic techniques for navigation of several mobile robots

Authors:
Saroj Kumar Pradhan;Dayal Ramakrushna Parhi;Anup Kumar Panda
Affiliations:
Department of Mechanical Engineering, N.I.T., Hamirpur, H.P. 177005, India;Department of Mechanical Engineering, N.I.T., Rourkela, Orissa 769008, India;Department of Electrical Engineering, N.I.T., Rourkela, Orissa 769008, India
Venue:
Applied Soft Computing
Year:
2009

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Abstract

In this paper, navigation techniques for several mobile robots as many as one thousand robots using fuzzy logic are investigated in a totally unknown environment. Fuzzy logic controllers (FLC) using different membership functions are developed and used to navigate mobile robots. First a fuzzy controller has been used with four types of input members, two types of output members and three parameters each. Next two types of fuzzy controllers have been developed having same input members and output members with five parameters each. Each robot has an array of ultrasonic sensors for measuring the distances of obstacles around it and an infrared sensor for detecting the bearing of the target. These techniques have been demonstrated in various exercises, which depicts that the robots are able to avoid obstacles as well as negotiate the dead ends and reach the targets efficiently. Amongst the techniques developed, FLC having Gaussian membership function is found to be most efficient for mobile robots navigation.