The Study Of Obstacle Avoidance System Based On Fuzzy Control For Mobile Robot

With the development of modern sensor technology, coupled with the integration ofartificial intelligence and a variety of emerging computer technology, making the robots moreintelligent and diversified, so that the ability of the robot is being taken seriously and usedwidely. Obstacle avoidance is the important safeguard of safe travel for mobile robot, as wellas one of the most important subjects for research.Firstly, this thesis researches on several technologies of autonomous obstacleavoidance which are used commonly at current stage, just as APF,ANNs and Fuzzy control.Then it design a set of Manipulator Mobile robot comprised by the PLC, motor drive, servomotor, communication module, main equipment and navigation modules etc, and based onwhich is to research autonomous obstacle avoidance of mobile robots. The ultrasonic sensorworks simply and fast, so it is useful to accomplishing the real time controlling. Based onthose, this thesis takes it to detect the environment, and designs a autonomous obstacleavoidance control system which combined fuzzy algorithm with behavioral control. In thispaper the robot obstacle avoidance behavior was divided into three acts： heading the samebehavior, avoidance behavior and conduct emergency stop. Ultimately, by completing a chainof physical experiments of the autonomous obstacle avoidance, the purpose of autonomousobstacle avoidance of the mobile robot and keep the same navigation after avoiding theobstacles was achieved.According to the results of physical experiments, the feasibility of the designedcontrol system can be verified. The system can be improved based on the results.