Fuzzy Logic Controller Design for Mobile Robot Outdoor Navigation
Assefinew Wondosen, Dereje Shiferaw
TL;DR
The paper addresses autonomous outdoor navigation for a differential-drive mobile robot operating in dynamic environments. It proposes a fuzzy logic controller that fuses GPS, odometry, and ultrasonic sensors to estimate position, heading, and speed toward a destination while avoiding obstacles. The control loop comprises fuzzification, a rule base, fuzzy inference, and defuzzification, structured for real-time implementation. Simulation in MATLAB/Simulink demonstrates successful goal reachability without collisions and highlights the method's practicality for ill-defined outdoor navigation tasks, with future work oriented toward optimization and enhanced sensing.
Abstract
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on Earth and other planets have been difficult so far. This paperwork presents the development of a control system for a differential drive-wheeled mobile robot that autonomously controls its position, heading, and speed based on destination information given and surrounding data gathered through mounted proximity and GPS sensors. The intelligence of this control system is implemented by using a fuzzy logic algorithm which is a very powerful tool to handle un-modeled systems like the dynamically changing environment dealt with in this research. The fuzzy controller is used to address the problems associated with navigation in an obstacle-strewn environment. Such issues include position estimation, path planning, and obstacle avoidance. In this study modeling, design, and simulation of the system have been done. The simulation result shows that the developed mobile robot travels successfully from any location to the destination location without colliding with obstacles.