Sensor-Based Intelligent Navigation and Control of Autonomous Mobile Robots for Advanced Terrain Missions

 

Aleksandar Rodić

Khalid Addi

Mirko Jezdimirović

 

The paper regards sensor-based intelligent mobile robot navigation and control in the case of unknown environment in the presence of obstacles. The paper deals with combined, fuzzy and dynamic control of autonomous mobile robots and their motion in unknown environment with different obstacles. The control strategy and algorithms described in the paper are suitable for wireless sensor-based remote control of mobile robots motion in different scenarios and terrain missions of interest for advanced military and civil applications. A detailed mathematical model of a mobile robotic platform is given as well as a corresponding two-level hierarchical control system structure with a high-level cognitive block for intelligent navigation and a low-level control block intended for dynamic control and trajectory tracking. A detailed description of the proposed fuzzy inference system structure is presented in the paper. Some implementation aspects are described as well as experimental control verification.

Key words: robots, robotized vehicle, obstacle avoidance, motion control, remote control, navigation, artificial intelligence, fuzzy inference system, mathematical model.