Gap identification strategy for mobile robot navigation in static and dynamic environments

被引：1
作者：
Ayedi D. [1 ]
Boujelben M. [2 ]
Rekik C. [2 ]
机构：
[1] Control and Energy Management Lab (CEM Lab), University of Sousse, Sousse Engineering School, BP 264, Sousse Erriadh
[2] Control and Energy Management Lab (CEM Lab), Sfax Engineering School, University of Sfax, BP W, Sfax
来源：
International Journal of Modelling, Identification and Control | 2020年 / 35卷 / 01期
关键词：
Control law; Feature extraction; Fuzzy controller; Gap identification; Gap model; Mobile robot; Navigation; Obstacle avoidance; Obstacle model; Willing gap;
D O I：
10.1504/IJMIC.2020.113296
中图分类号：
学科分类号：
摘要：
This paper presents a new strategy of mobile robot navigation inspired from Follow The Gap and Grouping Obstacles methods in static and dynamic environments. In this work, we have proposed a solution based on gap identification for the problem of obstacle avoidance. The mobile robot scans the surrounding through a laser sensor, then chooses the safest gap between the obstacles to reach the target. After that, the direction of the mobile robot is given by a fuzzy logic controller. This algorithm has shown its adaptability in cluttered environment and has produced good results comparing to the methods suggested in previous works. On the other hand, we have added a new fuzzy logic controller in the case of dynamic obstacles to command the linear velocity of the robot. This approach was tested in some simulations, and has shown its efficiency in generating shorter and optimal paths in a small time, which represents a great advantage. © 2020 Inderscience Enterprises Ltd.. All rights reserved.
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页码：40 / 50
页数：10
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