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Autonomous Path Planning and Navigation of a Mobile Robot with Multi-Sensors based on Fuzzy Logic in Dynamic Environment
Yupei Yan, Yangmin Li
Pages - 1 - 14     |    Revised - 31-08-2016     |    Published - 01-10-2016
Volume - 7   Issue - 1    |    Publication Date - October 2016  Table of Contents
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KEYWORDS
Mobile Robot, Path Planning, Navigation, Fuzzy Logic, Embedded System.
ABSTRACT
The mobile robot is applied widely and investigated deeply in industrial fields, meanwhile, mobile robot autonomous path planning and navigation algorithm is a hot research topic. In this paper, firstly mobile robot is introduced, the general path planning and navigation algorithms of the mobile robot are reviewed, then a fuzzy logic with filter smoothing is proposed based on the data from the laser scan sensor and GPS module, which is useful for mobile robot to find the best path to the destination automatically according to the position and size of the gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and navigation algorithms are tested on this mobile robot, the testing result shows that this algorithm is globally optimized, quickly responded, battery power and hardware cost saved compared with other algorithms, it is suitable for the mobile robot that is running on the embedded system and it can satisfy our design requirement.
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Mr. Yupei Yan
Department of Electromechanical Engineering University of Macau - Macau
yb47409@umac.mo
Professor Yangmin Li
Department of Electromechanical Engineering University of Macau - Macau