FUZZY CONTROLLER FOR AN OBSTACLE AVOIDANCE OF MOBILE ROBOTS CAPABLE OF REASONING AN OBSTACLE AVOIDING ANGLE

摘要

PURPOSE: A fuzzy controller for an obstacle avoidance of mobile robots is provided to reduce the calculation time for avoiding an obstacle by reasoning the obstacle avoiding angle based on the distance information from the obtained obstacle. ;CONSTITUTION: A fuzzy rule base(100) stores a positive and a negative regulations. The positive and the negative regulations are used for calculating a distance or an angle of a target place or an obstacle. A fuzzy unit(110) receives distance information from distance sensors. A fuzzy inferring unit(120) reasons the obstacle avoiding angle from fuzzed input information. A de-fuzzy unit(130) de-fuzzies and outputs the obstacle avoding angle.;COPYRIGHT KIPO 2011