Navigasi Berbasis Behavior dan Fuzzy Logic pada Simulasi Robot Bergerak Otonom

Mobile robot is the robotic mechanism that is able to moved automatically. The movement of the robot automatically require a navigation system. Navigation is a method for determining the robot motion. In this study, using a method developed robot navigation behavior with fuzzy logic. The behavior of the robot is divided into several modules, such as walking, avoid obstacles, to follow walls, corridors and conditions of u-shape. In this research designed mobile robot simulation in a visual programming. Robot is equipped with seven distance sensor and divided into several groups to test the behavior that is designed, so that the behavior of the robot generate speed and steering control. Based on experiments that have been conducted shows that mobile robot simulation can run smooth on many conditions. This proves that the implementation of the formation of behavior and fuzzy logic techniques on the robot working well.Keywords : behavior, fuzzy logic, mobile robot]Abstrak—Mobile robot merupakan mekanisme robot yang mampu bergerak otomatis. Pergerakan robot secara otomatis memerlukan suatu sistem navigasi. Navigasi adalah metode untuk menentukan gerak robot. Pada penelitian ini navigasi robot dikembangkan menggunakan metode behavior (perilaku) dengan logika fuzzy. Perilaku robot dibagi menjadi beberapa modul, seperti berjalan, menghindari halangan, mengikuti dinding, koridor maupun kondisi u-shape. Pada penelitian ini dirancang simulasi mobile robot di dalam pemrograman visual. Robot dilengkapi dengan tujuh sensor jarak dan dibagi menjadi beberapa kelompok untuk menguji perilaku yang dirancang, sehingga perilaku robot menghasilkan pengaturan kecepatan dan steering. Berdasarkan percobaan yang telah dilakukan menunjukkan bahwa simulasi mobile robot dapat berjalan mulus (smooth) pada berbagai kondisi. Hal ini membuktikan bahwa implementasi pembentukan behavior dan teknik logika fuzzy pada robot bekerja dengan baik.    Kata Kunci : behavior, logika fuzzy, mobile robo

Path Navigation For Robot Using Matlab

Path navigation using fuzzy logic controller and trajectory prediction table is to drive a robot in the dynamic environment to a target position,without collision. This path navigation method consists of static navigation method and dynamic path planning. The static navigation used to avoid the static obstacles by using fuzzy logic controller, which contains four sensor input and two output variables. If the robot detects moving obstacles, the robot can recognize the velocity and moving direction of each obstacle and generate the Trajectory Prediction Table to predict the obstacles’ future trajectory. If the trajectory prediction table which reveals that the robot will collide with an obstacle, the dynamic path planning will find a new collision free path to avoid the obstacle by waiting strategy or detouring strategy. . A lot of research work has been carried out in order to solve this problem. In order to navigate successfully in an unknown or partially known environment, the mobile robots should be able to extract the necessary surrounding information from the environment using sensor input, use their built-in knowledge for perception and to take the action required to plan a feasible path for collision free motion and to reach the goal

Navigational Path Analysis of Mobile Robot in Various Environments

This dissertation describes work in the area of an autonomous mobile robot. The objective is navigation of mobile robot in a real world dynamic environment avoiding structured and unstructured obstacles either they are static or dynamic. The shapes and position of obstacles are not known to robot prior to navigation. The mobile robot has sensory recognition of specific objects in the environments. This sensory-information provides local information of robots immediate surroundings to its controllers. The information is dealt intelligently by the robot to reach the global objective (the target). Navigational paths as well as time taken during navigation by the mobile robot can be expressed as an optimisation problem and thus can be analyzed and solved using AI techniques. The optimisation of path as well as time taken is based on the kinematic stability and the intelligence of the robot controller. A successful way of structuring the navigation task deals with the issues of individual behaviour design and action coordination of the behaviours. The navigation objective is addressed using fuzzy logic, neural network, adaptive neuro-fuzzy inference system and different other AI technique.The research also addresses distributed autonomous systems using multiple robot

Mobile robot visual navigation based on fuzzy logic and optical flow approaches

This paper presents the design of mobile robot visual navigation system in indoor environment based on fuzzy logic controllers (FLC) and optical flow (OF) approach. The proposed control system contains two Takagi–Sugeno fuzzy logic controllers for obstacle avoidance and goal seeking based on video acquisition and image processing algorithm. The first steering controller uses OF values calculated by Horn–Schunck algorithm to detect and estimate the positions of the obstacles. To extract information about the environment, the image is divided into two parts. The second FLC is used to guide the robot to the direction of the final destination. The efficiency of the proposed approach is verified in simulation using Visual Reality Toolbox. Simulation results demonstrate that the visual based control system allows autonomous navigation without any collision with obstacles.Peer ReviewedPostprint (author's final draft

Navigation of Real Mobile Robot by Using Fuzzy Logic Technique

Now a day’s robots play an important role many applications like medical, industrial, military, transportation etc. navigation of mobile robot is the primary issue in now a days. Navigation is the process of detection and avoiding the obstacles in the path and to reach the destination by taking the surrounding information from the sensors. The successful navigation of mobile robot means reaching the destination in short distance in short period by avoiding the obstacles in the path. For this, we are using fuzzy logic technique for the navigation of mobile robot. In this project, we build up the four-wheel mobile robot and simulation and experimental results are carried out in the lab. Comparison between the simulation and experimental results are done and are found to be in good