Decomposed Fuzzy Controller for Reactive Mobile Robot Navigation
Munaf S. N. Al-Din
Munaf S. N. Al-Din, Department of Electrical Engineering, Tafila Technical University, Faculty of Engineering, Tafila, Jordan.
Manuscript received on September 01, 2012. | Revised Manuscript received on September 02, 2012. | Manuscript published on September 05, 2012. | PP: 140-149 | Volume-2 Issue-4, September 2012. | Retrieval Number: CD0917072412/2012©BEIESP
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© The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: An Autonomous Mobile Robot is an artificially intelligent vehicle that is capable of traveling in unknown, unstructured environments independently. Among the proposed approaches in the literature to handle the navigation problem of a mobile robot is the simple fuzzy reactive approach. This approach, however, occasionally suffers from two problems the combinatorial explosion of the if-then rules in the inference engine, and finally the lack of a unified fuzzy rule-based system procedure. This paper offers an approach to handle the first two problems. In this paper a new approach to the design of simple fuzzy navigation systems is presented. The proposed approach is based on decomposing MIMO fuzzy logic controller into a number of SISO controllers. This approach has the advantage of greatly reducing the number of if-then rules by introducing weighting factors for the sensor inputs, thus inferring the reflexive conclusions from each input to the system rather than putting all the possible states of all the inputs to infer a single conclusion. Simulation and experimental results are presented to prove the efficiency of the proposed approach for mobile robot navigation in unstructured unknown environment.
Keywords: Decomposed fuzzy controller, Mobile robot, Autonomous navigation.