Path Generation of a Differential Mobile Robot Using Fuzzy Inference system

Abstract

This paper deals with the development of an efficient Fuzzy Inference System (FIS) based architecture for mobile robot navigation. While developing the system architecture, kinematic constraints have been considered for a differential drive mobile robot. During the analysis, robot chassis is considered as a rigid body and the position of the mobile robot is represented as a point in XY- plane. The developed kinematic models are useful to find out the robot’s velocities (X-direction, Y-direction & angular). The proposed fuzzy model requires two inputs: (1) the distance between the robot and the obstacles in the environment and (2) position of the target i.e. the robot heading angle towards the destination. Once the system gets the knowledge from the environment, it will obtain the suitable steering angle for an autonomous mobile robot. This process will be continued until the robot reaches its goal. Simulation and experimental results are presented to verify the effectiveness of the proposed methodology for an autonomous mobile robot.