Optimal trajectory of a mobile robot using hierarchical fuzzy logic controller. (2016)

• Record Type: Journal Article
• Authors: Rekik, Chokri; Jallouli, Mohamed; Derbel, Nabil
• Is Part Of: International journal of computer applications technology. Volume 53:Number 4(2016)
• Page Start: 348
• Page End: 357
• Publication Date: 2016
• Subjects: hierarchical FLC -- HFLC -- fuzzy logic control -- controller design -- genetic algorithms -- robot navigation -- obstacle avoidance -- optimal trajectory -- mobile robots -- robot trajectories -- autonomous robots -- collision avoidance -- simulation; Technology -- Data processing -- Periodicals; 620.00285
• Languages: English
• ISSNs: 0952-8091

Abstract

This paper presents the development of a complete navigation problem of an autonomous mobile robot. The problem for which the robot tries to reach the target is treated using a hierarchical fuzzy logic controller HFLC. The optimisation of the consequences of fuzzy rules is solved using genetic algorithms. A new approach based on HFLC is presented in this paper to avoid collisions with obstacles. In fact, HFLC consists of a number of low-dimensional standard fuzzy systems connected in a hierarchical fashion. Hence, it can provide a good candidate for solving high-dimensional problems. Simulation results show that the designed hierarchical fuzzy controller gives good trajectory of the robot from its current position to the target with obstacle avoidance.