Safe Navigation of an Autonomous Robot in Dynamic and Unknown Environments

• Published in: Recent Developments in Automatic Control Systems pp. 261 - 288
• Main Authors: Kondratenko, Yuriy P., Roshanineshat, Arash, Simon, Dan
• Format: Book Chapter
• Language: English
• Published: River Publishers 2022
• Edition: 1
• Subjects: Control Systems; Electrical & Power Engineering; Industrial Safety; Power Generation and Transmission; Process Design, Control & Automation; Safety & Industrial Hygiene; Mobile Robot; fuzzy set; Autonomous Robot; Mamdani Type Fuzzy Inference Systems; Cyber Physical Systems; Robot's Direction; adjusting speed; Robot Motion; membership function; Target Point; Robot's Heading; safety; Trajectory Planning; Fuzzy Controller; Obstacle Avoidance; Ground Mobile Robots; Fuzzy Information Processing; unknown environment; Variational Inequality Problem; Fuzzy Systems Design; Autonomous Robot Navigation; Fuzzy Inference System; Suitable Membership Function; Modern Field Programmable Gate Array; Unknown Environments; Genetic Fuzzy System; The autonomous robot; Dynamic Obstacles; Radar Sensor Data; static and dynamic obstacles
• ISBN: 8770226741; 9788770226745
• DOI: 10.1201/9781003339229-13

For robots to become an efficient means for performing tasks, they need to navigate safely and effectively without supervision. This chapter is devoted to the problem of fuzzy control system design for mobile robots operating in dynamic environments with obstacles. The decision-making method, based on the transformation of radar-sensor information to fuzzy set "Obstacles" and robot's heading course to fuzzy set "Direction to Target Point," is considered. We also address the safety aspects of the proposed approach. The different scenarios of the working environment (with static and dynamic obstacles), the adjusted speed of the autonomous robot, and peculiarities of "robot-obstacle" interaction are the issues for discussion. The simulation results confirm the efficiency and safety of the robot's autonomous navigation in dynamic and unknown environments.