This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot\nto navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding\nobstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation\nand obstacle avoidance.The used mobile robot is equipped withDCmotor, nine infrared range (IR) sensors tomeasure the distance\nto obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent\nnavigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform.\nSimulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path.
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