An Enhanced Approach of Mobile Robot Navigation In Dynamic Environment

Abstract

In this paper, we have proposed the technique for navigating mobile robot in dynamic environment having moving obstacle, with optimal path. First we introduced artificial potential field method and the acceleration velocity obstacle. We have assumed that the robot having a disk shape and the workspace is of two dimensions.  This paper describes the design of a fuzzy logic based navigation system for a mobile robot. The advantage of using fuzzy logic for navigation is that it allows for the easy combination of various behaviors outputs through a command fusion process. The navigation system in this case consists of two behaviors - an obstacle avoidance behavior and a goal seeking behavior. The inputs to the fuzzy controller are the desired direction of motion and the readings from the sensor array. The outputs from each behavior’s rule base are integrated using the command fusion process and made crisp using a modified defuzzification technique. The end result is very smooth motion control of the robot.

Key Words: Mobile robot, artificial potential field, Dijkstra’s single source shortest path, Acceleration velocity obstacle.