A novel approach to integrate artificial potential field and fuzzy logic into a common framework for robots autonomous navigation. (November 2014)

• Record Type: Journal Article
• Authors: Melingui, Achille; Merzouki, Rochdi; Mbede, Jean Bosco; Chettibi, Taha
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 228:Number 10(2014)
• Page Start: 787
• Page End: 801
• Publication Date: 2014-11
• Subjects: Artificial intelligence applications -- fuzzy logic control -- robot navigation -- obstacle detection/avoidance -- adaptive control systems; Mechanical engineering -- Periodicals; Automatic control -- Periodicals; Systems engineering -- Periodicals; 621.3
• DOI: 10.1177/0959651814548300
• Languages: English
• ISSNs: 0959-6518

Abstract

Artificial potential field and fuzzy logic are efficient approaches for mobile robots autonomous navigation. However, both have advantages and drawbacks. Their integration into a common control scheme can significantly improve the performances of the resulting hybrid controller. In this article, we propose a novel hybrid approach in order to better exploit their advantages. The present work contributes in three aspects: first, the proposed control scheme integrates interval type-2 fuzzy logic concepts with artificial potential field concepts into a common framework in order to better exploit their advantages. Second, the proposed control scheme is a simple and realizable design for real-time implementation because only 15 fuzzy rules are sufficient to control the mobile robot. Third, the proposed control scheme is a synthesized design which utilizes both heuristic knowledge and the sampled input–output data pairs. An implementation in real-time on an omnidirectional mobile robot validates the effectiveness of the proposed control scheme.