Research on shared control of mobile robot navigation based on fuzzy logic

DOI:	10.11809/bqzbgcxb2023.12.037
Keywords:	mobile robot; autonomous navigation; shared control; fuzzy logic
Abstract:	In unstructured environment, dense obstacles and sudden situations, mobile robots are prone to wandering and jitter, and it is difficult to achieve complete autonomous navigation. The shared control method in which humans switch control rights and fixed control weights in the loop is also not universal. To solve the above problems, a shared control method based on fuzzy logic is proposed, taking the speed information of the mobile robot and the distance information from the obstacles into consideration and integrating the decision making and control ability of the operator. Taking obstacle avoidance coefficient and safety coefficient as inputs and shared control weights as outputs, it dynamically fuses operator control commands and autonomous control commands of the mobile robot to realize high precision navigation control of the mobile robot. The experimental results of ground mobile robot show that compared with autonomous navigation, the fuzzy logic based shared control method can reduce the trajectory length of mobile robot by 24% and the running time by 8%, which has good effectiveness.
Issue:	Vol. 44 No. 12 (2023)
Published:	2023-12-28
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