POWER CONTROL AND OPTIMIZATION: Proceedings of the 7th Global Conference on Power Control and Optimization

Conference date: 27–28 August and 2-3 December 2013

Location: Prague (Czech Republic) and Yangon (Myanmar)

ISBN: 978-983-44483-63

Editors: Ivan Zelinka, Zeya Oo and Nader Barsoum

Volume number: 2008

Published: 15 April 2013

Real-Time Obstacle Avoidance and Fuzzy Dynamic Steering Control for an Unmanned Ground Vehicle

Ling Khui Shing, Khine Zar Lwin, Kyauk Khe Sein, Ye Chan, Win Win Thar

PCO Conf-Proc 2008 (2013), - PDF

Abstract: In real situation, the motion planning of the vehicle does not rely on accurate static models of the environments. It can perceive its environments, react to unforeseen circumstances, and plan dynamically in order to achieve its mission. This paper describes the autonomous obstacle avoidance system for a mobile robot in an unmapped and changing environment. The developed algorithm uses a fuzzy logic approach and is conducted using an autonomous mobile robot platform including three sets of ultrasonic sensors. The environment information surrounding the robot detected by the ultrasonic sensors is firstly fuzzified, and then input into fuzzy control system. The output of the fuzzy control system is used to drive the robot. In the real-time performance tests, the system is able to guide vehicle around obstacles.