Obstacle Avoidance during Robot Navigation in Dynamic Environment u sing Fuzzy Controller
Shoaib Mohd Nasti1, Zoltán Vámossy2, Neerendra Kumar3
1Shoaib Mohd Nasti, Department of Computer Science and Information Technology, Central University of Jammu, Jammu, India.
2Zoltán Vámossy, John von Neumann Faculty of Informatics, Óbuda University, Budapest Hungary.
3Neerendra Kumar, Department of Computer Science and Information Technology, Central University of Jammu, Jammu, India.
Manuscript received on 16 March 2019 | Revised Manuscript received on 22 March 2019 | Manuscript published on 30 July 2019 | PP: 817-822 | Volume-817-822 Issue-2, July 2019 | Retrieval Number: A1428058119/19©BEIESP | DOI: 10.35940/ijrte.A1428.078219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: A Simulink model containing fuzzy logic controller for collision-free robot navigation in a dynamic environment is presented in this paper. Two controllers, pure pursuit and fuzzy logic controller, are considered to handle robot navigation with obstacle avoidance. Ignoring the obstacles, the pure pursuit controller computes the required linear and angular velocities to direct robot from start to goal location. However, if obstacles are present in the navigation path then the robot will get collided with obstacles in the path. As a result, the robot will not reach to the provided goal location. The fuzzy logic controller is used to avoid obstacles in the navigation path. The fuzzy logic controller takes obstacle distance, obstacle angle, target direction and the x coordinate of goal location as inputs. Consequently, the fuzzy logic controller outputs the required change in angular velocity for the robot. This change in angular velocity is applied to the angular velocity provided by the pure pursuit controller. The experimental work is performed using Turtlebot Gazebo simulator. The navigation including environment, obstacles and resultant paths are also manifested.
Index Terms: Fuzzy Logic Controller, Obstacle Avoidance, Robot Navigation, Simulink, Turtlebot Gazebo Simulator.
Scope of the Article: Fuzzy Logic