Intelligent obstacle avoidance control strategy for wheeled mobile robot

Abstract

This paper presents intelligent strategies for a wheeled mobile robot to avoid obstacle and move to target location. The obstacle detection for the wheeled mobile robot is carried out by ultrasonic sensors. There are two models in this study, short-distance obstacle avoidance model and target-driven obstacle avoidance model. In short-distance obstacle avoidance model, the wheeled mobile robot utilizes signals of the ultrasonic sensors to avoid obstacle. In target-driven obstacle avoidance model, fuzzy theory with sensor signals is used to control the speed of the wheeled mobile robot and make it move to target location. In this study, software simulations are made on the MATLAB platform. Both obstacle avoidance models are successfully performed.