| Mobile robot is a product of scientific progress, and also is the human imagination and wisdom. In the field of mobile robots, navigation control has been a focus of mobile robot research. Because of the approximate information of sensors, the uncertainty information of environment, and mixed with some noise, it is difficult to achieve the of mobile robot's control. Fuzzy controller is similar to the human way of thinking, so is able to accommodate these uncertain input information, and will produce a smooth control output in time-varying unknown environment for mobile robot navigation control. Its application is more extensive in current researches. But traditional Mamdani fuzzy control systems'fuzzy rules are too much to leads to complicate the control process. It takes negative impact to the real-time system.In order to solve the path planning problem of nonholonomic mobile robot, on the basis of Mamdani fuzzy control system, a Takagi-Sugeno fuzzy control system has been designed according to the weight of various sensors'information on the mobile robot. To achieve the purpose of simplifying the fuzzy control rule Table, reducing the amount of information, and improving the efficiency of decision-making. Result shows that the new fuzzy control system has simpler fuzzy rules, and more efficient decision-making, and moreover can meet the control requirement. |
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