Fuzzy logic-based moving obstacle avoidance method
Main Article Content
Abstract
In this study, a fuzzy logic-based collision avoidance method is studied. Mobile robots operating in a dynamic environment may encounter moving obstacles. The distance from the obstacles to the robot is provided as a control input. The change of distance is provided as the secondary input. The output speed value is expressed as ‘stop’, ‘very slow’, ‘slow’, ‘medium’ and ‘fast’, respectively. Each of these expressions has an exact numerical value, but it depends on the inputs and the rule base, and therefore the numerical values belong to the variable ratios. The input parameters do not have an exact value and they are assigned to different numerical ranges at different ratios. The input membership functions defined in this study are defined as triangular functions. The defuzzification process of the output parameter is performed by the weighted average method.
Keywords: fuzzy; logic-based; mobile; avoidance method
Downloads
Article Details
![Creative Commons License](http://i.creativecommons.org/l/by/4.0/88x31.png)
This work is licensed under a Creative Commons Attribution 4.0 International License.
Global Journal of Computer Sciences: Theory and Research is an Open Access Journal. All articles can be downloaded free of charge. Articles published in the Journal are Open-Access articles distributed under CC-BY license [Attribution 4.0 International (CC BY 4.0)]
Birlesik Dunya Yenilik Arastirma ve Yayincilik Merkezi (BD-Center) is a gold open access publisher. At the point of publication, all articles from our portfolio of journals are immediately and permanently accessible online free of charge. BD-Center articles are published under the CC-BY license [Attribution 4.0 International (CC BY 4.0)], which permits unrestricted use, distribution, and reproduction in any medium, provided the original authors and the source are credited.