Wall-following and Navigation of Intelligent Mobile Robots Driven by A Fuzzy Logic and Rule-based Coordination System

Bian, Yue, Hao Liu, Bo Cui, and Chaomin Luo

Wall-following and navigation are required for autonomous mobile robots and many other robotic applications. The capability to perform wall-following and navigation is a critical competence for successful search and exploration in real-world environments of autonomous mobile robots in cleaning, transportation, medical, and rescue robotics applications. In this project, an efficient fuzzy logic and behavior coordination system is developed for wall-following navigation of autonomous mobile robots. The intelligent mobile robot is equipped with IR sensors, ultrasonic sensors, H-bridge, based on AT89S52 MCU and embedded systems.  This intelligent mobile robot is built up from scratch. The hardware design is composed of motor control with encoders, wheel and chassis installation, a sensor interface, and sensor configuration. An H-Bridge with pulse width modulation (PWM) technique is utilized to control the speed of the motors. In addition, software development contains motor control, obstacle avoidance and sensor fusion in this project.  Environmental information of the real-world gathered by IR and ultrasonic sensors is transmitted to the fuzzy logic and rule-based coordination system. Experimental results validate how a fuzzy logic and rule-based coordination system directs an intelligent mobile robot to perform wall-following and point-to-point search with obstacle avoidance.