TY - GEN
T1 - Navigation of Omni-Directional Mobile Robot in Unstructured Environments using Fuzzy Logic Control
AU - Abdelwahab, Mohamed
AU - Parque, Victor
AU - Abouelsoud, A. A.
AU - Fath, Ahmed M.R.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/1/11
Y1 - 2021/1/11
N2 - Among the existing control schemes, Fuzzy Logic (FL) is advantageous in offering robustness to uncertainty and noise in sensor readings. However, the performance of FL-based navigation strategies is well-known to be bounded by localminima risks in polygonal environments with nonconvex configurations. Here, we propose a twin-stage Fuzzy Logic scheme for autonomous navigation of mobile robots. Our exhaustive computational and real-world experiments using Robotino, an omnidirectional mobile robot architecture shows the potential to avoid local-minima and obstacle collisions, enabling the computationally efficient and adaptive FL-based behavioural modules for mobile robots.
AB - Among the existing control schemes, Fuzzy Logic (FL) is advantageous in offering robustness to uncertainty and noise in sensor readings. However, the performance of FL-based navigation strategies is well-known to be bounded by localminima risks in polygonal environments with nonconvex configurations. Here, we propose a twin-stage Fuzzy Logic scheme for autonomous navigation of mobile robots. Our exhaustive computational and real-world experiments using Robotino, an omnidirectional mobile robot architecture shows the potential to avoid local-minima and obstacle collisions, enabling the computationally efficient and adaptive FL-based behavioural modules for mobile robots.
UR - http://www.scopus.com/inward/record.url?scp=85103742537&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85103742537&partnerID=8YFLogxK
U2 - 10.1109/IEEECONF49454.2021.9382654
DO - 10.1109/IEEECONF49454.2021.9382654
M3 - Conference contribution
AN - SCOPUS:85103742537
T3 - 2021 IEEE/SICE International Symposium on System Integration, SII 2021
SP - 684
EP - 689
BT - 2021 IEEE/SICE International Symposium on System Integration, SII 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/SICE International Symposium on System Integration, SII 2021
Y2 - 11 January 2021 through 14 January 2021
ER -