Application of Fuzzy Control to a Sonar-based Obstacle Avoidance Mobile Robot

This paper describes how fuzzy control can be applied to sonar based obstacle avoidance of HelpMate mobile robot. Behavior-based fuzzy control for HelpXlate mobile robot was designed. The design and implementation of fuzzy control system is described. The fuzzy controller provides the mechanism for solving sens(,r data fi'om all sonar sensors which present differ<,.t infl)rmation. Behavior-based approach is implem(~ut(>([ ab all individual high priority behavior. Usint4 I)(~havior-based solves architecture of behavior selection problem. The highest level behavior is called task-oriented behavior, which consists of two subtasks, wall t'ollowing and goal following. The lower level is t)bstacle avoidance behavior. The lowest is an emerg('n('y behavior. Visual Basic 6 code was developed for implementation. The fuzzy inference system was crear(-,d. Helpmate obstacle avoidance was implemented. The result shown that each behavior is work correctly. The HelpMate robot can avoid all obstacles that are det(-,cted by sonar sensors.