Fuzzy logic controller for robot navigation in an unknown environment
This study aims to allow the robot to move safely without colliding with obstacles to reach a specified position in an unknown environment. To achieve the aim of the study, a fuzzy controller was proposed and employed in intelligent mobile robot navigation strategies within unknown environments. Thi...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE
2013
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| Online Access: | http://psasir.upm.edu.my/id/eprint/44867/ http://psasir.upm.edu.my/id/eprint/44867/1/Fuzzy%20logic%20controller%20for%20robot%20navigation%20in%20an%20unknown%20environment.pdf |
| _version_ | 1848850465571209216 |
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| author | Shayestegan, Mohsen Din, Abdul Sattar |
| author_facet | Shayestegan, Mohsen Din, Abdul Sattar |
| author_sort | Shayestegan, Mohsen |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | This study aims to allow the robot to move safely without colliding with obstacles to reach a specified position in an unknown environment. To achieve the aim of the study, a fuzzy controller was proposed and employed in intelligent mobile robot navigation strategies within unknown environments. This fuzzy controller has four inputs (one target angle and three obstacle distance), two outputs (left and right speed) and 9 numbers of rules. A virtual mobile robot, E-puck robot in the Webots simulator was used to evaluate the performance of the proposed method. Few features such as time travelling, distance travelling of the output responses were analyzed. Comparisons are made between proposed fuzzy logic and Motlagh fuzzy controller. The simulation results were presented to verify the effectiveness of the proposed architectures in an unknown environment. |
| first_indexed | 2025-11-15T10:06:43Z |
| format | Conference or Workshop Item |
| id | upm-44867 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T10:06:43Z |
| publishDate | 2013 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-448672020-08-04T02:38:28Z http://psasir.upm.edu.my/id/eprint/44867/ Fuzzy logic controller for robot navigation in an unknown environment Shayestegan, Mohsen Din, Abdul Sattar This study aims to allow the robot to move safely without colliding with obstacles to reach a specified position in an unknown environment. To achieve the aim of the study, a fuzzy controller was proposed and employed in intelligent mobile robot navigation strategies within unknown environments. This fuzzy controller has four inputs (one target angle and three obstacle distance), two outputs (left and right speed) and 9 numbers of rules. A virtual mobile robot, E-puck robot in the Webots simulator was used to evaluate the performance of the proposed method. Few features such as time travelling, distance travelling of the output responses were analyzed. Comparisons are made between proposed fuzzy logic and Motlagh fuzzy controller. The simulation results were presented to verify the effectiveness of the proposed architectures in an unknown environment. IEEE 2013 Conference or Workshop Item PeerReviewed text en http://psasir.upm.edu.my/id/eprint/44867/1/Fuzzy%20logic%20controller%20for%20robot%20navigation%20in%20an%20unknown%20environment.pdf Shayestegan, Mohsen and Din, Abdul Sattar (2013) Fuzzy logic controller for robot navigation in an unknown environment. In: 2013 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2013), 29 Nov.-1 Dec. 2013, Penang, Malaysia. (pp. 69-73). 10.1109/ICCSCE.2013.6719934 |
| spellingShingle | Shayestegan, Mohsen Din, Abdul Sattar Fuzzy logic controller for robot navigation in an unknown environment |
| title | Fuzzy logic controller for robot navigation in an unknown environment |
| title_full | Fuzzy logic controller for robot navigation in an unknown environment |
| title_fullStr | Fuzzy logic controller for robot navigation in an unknown environment |
| title_full_unstemmed | Fuzzy logic controller for robot navigation in an unknown environment |
| title_short | Fuzzy logic controller for robot navigation in an unknown environment |
| title_sort | fuzzy logic controller for robot navigation in an unknown environment |
| url | http://psasir.upm.edu.my/id/eprint/44867/ http://psasir.upm.edu.my/id/eprint/44867/ http://psasir.upm.edu.my/id/eprint/44867/1/Fuzzy%20logic%20controller%20for%20robot%20navigation%20in%20an%20unknown%20environment.pdf |