Improved Fuzzy Logic Rules and Effective Searching Box Method for Mobile Robot Obstacle Avoidance

In order to improve the performance of obstacle avoidance of mobile robot in an unknown obstacle environment, ultrasonic sensors and fuzzy logic are used to research on the obstacle avoidance for mobile robot. There are a lot of disadvantages of traditional fuzzy logic obstacle avoidance, such as large number of rules and large amount of computation. And robots can't be successful to avoid obstacles through the large curve. To solve the problem, different weights are given to different distance and the effective obstacles searching box is added to the range of obstacle searching area. As a result, the efficiency of obstacle avoidance for mobile robot is improved and the mobile robot can successfully avoid obstacles through the large turning. Through the LabVIEW simulation experiments, the proposed method can make the mobile robot successfully avoid obstacles. Compared with the traditional fuzzy logic obstacle avoidance algorithm, the success rate of the improved obstacle avoidance algorithm is improved by 45% ~ 60%.