Path Design and Control of a Moving Social Robot in an Environment with Moving Obstacles in Order to Reach a Moving Target through Fuzzy Control

Document Type : Research Article

Authors

mechanic department

Abstract

In this paper, the main objective is to design a fuzzy control system for path planning and controlling a moving robot in a social environment with obstacles. The proposed control algorithm establishes an appropriate path to reach the target without collision with obstacles by receiving the target position frequently. When the obstacles examined, it is assumed that fixed and moving obstacles have existed in the environment. Moreover, the robot movements are adjusted in such a way that they do not cause fear or change in human behavior. The fuzzy system used in the paper has four inputs (distance between obstacle and robot, the relative angle of the obstacle, the rate of the obstacle approaching the robot, and relative angle of the target), and two outputs (linear velocity and angles of the robot base). The suggested robotic system is examined in different states by considering diverse motions of obstacles and targets. Furthermore, the designed control system is implemented on the laboratory robot to validate the proposed method. In addition to the design of a graphical user interface, some changes have also been made to the function of its mechatronics system. Finally, the results obtained from simulation and laboratory systems are evaluated and compared.

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References

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Amirkabir Journal of Mechanical Engineering
Volume 53, Issue 2
May 2021
Pages 993-1014

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