Fuzzy Logic Navigation and Obstacle Avoidance by a Mobile Robot in an Unknown Dynamic Environment

TLDR

Mobile robot navigation remains an open problem, particularly in unknown dynamic warehouse settings where manual handling is costly. The study investigates an online fuzzy‑logic navigation technique for a wheeled mobile robot to navigate a warehouse with static and dynamic obstacles. The authors implement a wireless control framework combined with fuzzy‑logic control to guide the robot in real time. Experiments demonstrate that the proposed algorithm effectively navigates the robot in dynamic warehouse environments.

Abstract

Mobile robot navigation has remained an open problem over the last two decades. Mobile robots are required to navigate in unknown and dynamic environments, and in recent years the use of mobile robots in material handling has considerably increased. Usually workers push carts around warehouses and manually handle orders which is not very cost-effective. To this end, a potential method to control a swarm of mobile robots in a warehouse with static and dynamic obstacles is to use the wireless control approach. Further, to be able to control different types of mobile robots in the warehouse, the fuzzy logic control approach has been chosen. Therefore, in this paper, an on-line navigation technique for a wheeled mobile robot (WMR) in an unknown dynamic environment using fuzzy logic techniques is investigated. In this paper, we aim to use the robot in application in a warehouse. Experimental results show the effectiveness of the proposed algorithm.