Obstacle - Slope Avoidance and Velocity Control of Wheeled Mobile Robots using Fuzzy Reasoning

This paper gives the fuzzy velocity control of a mobile robot motion in an unknown environment with slopes and obstacles. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. When the vehicle is moving towards the target and the sensors detect an obstacle or slopes, an avoiding strategy and velocity control are necessary. We proposed a fuzzy reactive navigation strategy of collision-free motion and velocity control in an unknown environment with slopes and obstacles. Outputs of the fuzzy controller are the angular speed difference between the left and right wheels of the vehicle and the vehicle velocity. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unknown environment and velocity control of the proposed fuzzy control strategy.