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Computational Intelligence and Neuroscience
Volume 2016, Article ID 9548482, 10 pages
http://dx.doi.org/10.1155/2016/9548482
Research Article

Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation

Department of Electrical Engineering, METS Laboratory, National School of Engineers of Sfax, University of Sfax, Street of Soukra Km. 4, BP 1173, 3038 Sfax, Tunisia

Received 27 May 2016; Accepted 2 August 2016

Academic Editor: Dong W. Kim

Copyright © 2016 Hajer Omrane et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

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