Document Type : Original Article
Mechatronics Engineering Group, Amirkabir University of Technology, Tehran, Iran
In recent years, the navigation of mobile robots has been of great interest. One of the important challenges in the navigation of mobile robots is the obstacle avoidance problem so that the robots do not collide with each other and obstacles, during their movement. Hence, for good navigation, a reliable obstacle avoidance methodology is needed. On the other hand, some of the other most important challenges in robot control are in the field of motion planning. The main goal of motion planning is to compile (interpret) high-level languages into a series of primary low-level movements. In this paper, a novel online sensor-based motion planning algorithm that employs the Adaptive Neuro-Fuzzy Inference System (ANFIS) controller is proposed. Also, this algorithm is able to distance the robots from the obstacles (i.e. it provides a solution to the obstacle avoidance problem). In the proposed motion planning algorithm, three distances (i.e. the distance of the robot from the obstacles in three directions: right, left, and front) have been used to prioritize the goal search behavior and obstacle avoidance behavior and to determine the appropriate angle of rotation. Then, for determining the linear velocity, the nearest distance from obstacles and distance from the goal have been used. The proposed motion planning algorithm has been implemented in the gazebo simulator (by using Turtlebot) and its performance has been evaluated. Finally, to improve the performance of the proposed motion planning algorithm, We have used type-1, interval type-2, and interval type-3 fuzzy sets, then, we have evaluated and compared the efficiency of the proposed algorithm for each of these fuzzy sets under specific criteria.