Real Time Map Generation and Obstacle Avoidance using Parallel Fuzzy Controller

In this paper, a new method for real time tracking, control with obstacle avoidance of mobile robot using ultrasonic range sensors is presented. The design is to traverse safely and efficiently, while performing the tasks, in a completely unknown environment with the help of a parallel fuzzy controller. A fuzzy logic controller for obstacle avoidance has been proposed which also incorporates fuzzy map making. In addition, the method is more efficient and less sensitive to sensor misreading. The effectiveness of the proposed method is demonstrated by comparing the approaches using localization of the robot and fuzzy mapping of the environment. The experimental results have shown that the proposed architecture provides an efficient and flexible solution for small wheeled mobile robots. Further, to prevent fuzzy rule explosion and for real time and crisp control of mobile robots parallel computing architecture of the robot has been used which further enhances the results.