Searching for Goal by Mobile Robot with Collision-Free Motion in Unknown Environment
Pages: 89 - 100
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Participants:
Turki Y. Abdalla |
Seaar J. Al_Duboni |
Summary:
Obstacle avoidance and path planning are the most important problems in mobile robots, especially in an unknown environment. In this paper, we proposed an approach for mobile robot navigation combining path planning and obstacle avoidance. Methods such as obstacle avoidance are inspired by nature and have been developed by fuzzy logic to train an intelligent robot in an unknown environment. The model of the robot has two driving wheels and the linear velocity and azimuth of the two wheels are independently controlled using a PID controller. Inputs are obtained from ultrasonic sensors mounted on it.