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Adaptive Fuzzy Control for Autonomous Robot under Complex Environment

This paper studies an adaptive control method for an autonomous robot under a complex environment as static and dynamic obstacles with too many paths to target... A new obstacle avoidance approach for autonomous robots has been designed and implemented. This approach permits the detection of static or dynamic unknown obstacles simultaneously with the steering of the robot to avoid collisions and advancing toward the target. The robot is able to move in different areas. Through perception of surrounding environment the robot can interact and move following free-collision path in dynamic space. The controller for this study includes two inputs and two outputs to avoid the static obstacles as well as moving ones. Besides, a nonlinear controller based on the robot kinematics model of mobile robot is analyzed to apply to the adaptive fuzzy controller. The modeling and design of nonlinear fuzzy controller for a mobile robot are also described in this study. The performance results show that the algorithm of adaptive fuzzy controller can be used efficiently for controlling mobile robot work in complex environment. 