Fuzzy Interference based Obstacles Detecting and Avoiding System for Mobile Robot using Depth Sensor
This paper presents the fuzzy interference based obstacles detection and avoiding system using Depth camera for an autonomous mobile robot. In order to drive autonomously one main issue is the ability to detect and avoid the obstacles on its path. The Depth camera is applied in this task due to its double integrated sensor, namely vision and distance. According to the 3D image information, the controller determined the control inputs, the left and right motors’ velocities, to the differential drive mobile robot. A rule-based fuzzy controller with reactive behavior will implement for obstacles avoiding system of a mobile robot platform. The effectiveness of the proposed approach was verified through several experiments, which demonstrates the feasibility of the obstacles avoidance system.
Keywords - Fuzzy Logic Control, Depth Camera, Distance Measurement, Obstacle Avoidance.