SIMULATION AND EXPERIMENTAL RESULTS OF MODIFIED FUZZY CONTROLLER FOR MOBILE ROBOT NAVIGATION AND OBSTACLE AVOIDANCE, A CASE STUDY: KHEPERA II MOBILE ROBOT

In this paper we propose a modified fuzzy controller for obstacle avoidance of mobile robot navigation. The most important aspect of this method isits simplicity and efficiency. The other important feature of the proposed method is smooth navigation due to the selected type of membership functions. The proposedmethod along with conventional fuzzy approach is compared to the potential field method for robot navigation. The potential field acts better thanconventional fuzzy method while the modified fuzzy approach has superiority to former methods. Simulation and implementation of the mentioned approaches aredone for the Khepera II mobile robot. Results show the effectiveness and high performance of this newalgorithm.In addition, by using this modified fuzzy method the robot reaches its target in a shorter time compared to the potential field and former fuzzy methods.

کلیدواژه ها:

Robot navigation ، Fuzzy logic controllers ، Mobile robot ، Khepera II