Implementation of Fuzzy Logic Measures for Mobile Robot Control

Authors(3) :-B. M. Bhairat, M. R. Gosavi, V. M. Thakare

Mobile robots are required to navigate in unknown and dynamic environments and in the present years the use of mobile robots in material handling has increased. In this work, on-line navigation for autonomous mobile robot in dynamic and unknown indoor environment using fuzzy logic measures is investigated. Four fuzzy logic measures are developed and used to navigate robot to its target. Goal Seeking Measure (GSM), Static and Dynamic Obstacles Avoidance Measure (SDOAM), Emergency Measure (EM), and Robot Setting Measure (RSM) are used to navigate mobile robot and obstacle avoidance. The target of this work is to use the autonomous mobile robot in warehouse with dynamic unknown environment.

Authors and Affiliations

B. M. Bhairat
Department of Mathematics, Br. Balasaheb Khardekar College, Vengurla, Sindhudurg, Maharashtra, India
M. R. Gosavi
Department of Mathematics, Maharashtra Mahavidyalaya, Nilanga, Latur, Maharashtra, India
V. M. Thakare
Department of Computer Science and Technology, Sant Gadage Baba Amaravati University, Amaravati, Andhra Pradesh, India

Autonomous Mobile Robot, Fuzzy Logic, Wheeled Mobile Robot, Robot Navigation

  1. M. Cao and E. L. Hall, "Fuzzy logic control for anautomated guided vehicle," Intelligent Robots andComputer Vision XVII:Algorithms, Techniques, andActve Vision, vol. 3522, no. 1, pp. 303–312, 1998.
  2. R. Rashid, I. Elamvazuthi, M. Begam, and M.Arrofiq, "Differential Drive Wheeled Mobile Robot (WMR) Control Using Fuzzy Logic Techniques,"2010, pp. 51–55.
  3. Nabeel K. Abid Al- Sahib* Ahmed RahmanJasim**, "Guiding Mobile RobotbyApplying Fuzzy Approach on Sonar Sensors", Department of Mechatronics Engineering/Al–Khwarizmi College of Engineering, University of Baghdad * Email:** Email: Al-Khwarizmi ngineering Journal, Vol. 6, No. 3, PP 36 - 44 (2010)
  4. Antonio Gómez Skarmeta and HumbertoMartínezBarberá, "Fuzzy Logic Based Intelligent Agents for ReactiveNavigation in Autonomous Systems", Dep. de Informática y Sistemas. Universidad de Murcia
  5. Oscar Castillo, Luis T. Aguilar, and S´eleneC´ardenas," Fuzzy Logic Tracking Control for Unicycle Mobile Robots", Engineering Letters, 13:2, EL_13_2_4 (Advance online publication: 4 August 2006)
  6. Abraham L. Howell, Roy T.R. McGrann, and Richard R.Eckert, "Teaching Concepts inFuzzy Logic Using Low Cost Robots", PDAs, and Custom Software, Binghamton, NY 13902 abe@abotics,,, 978-1-4244-1970-8/08/$25.00 ©2008 IEEE October 22-25, 2008, Saratoga Springs, NY, 38th ASEE/IEEE Frontiers in Education Conference T3H-7 t0 T3H-11.
  7. Mester, Gyula,"Fuzzy-Logic Sensor-Based Navigation of Autonomous Wheeled Mobile Robots in the Greenhouse Environments", GyulaMester is with the Robotics Laboratory, Institute of Informatics, Department of Technical Informatics, and University of Szeged, Hungary Manuscript received June 15th, 2011.
  8. K.S. Senthilkumar1 K.K. Bharadwaj2, "Hybrid Genetic-Fuzzy Approach to Autonomous Mobile Robot", 1 College of Arts and Science, King Saud University, Wadi Al Dawasir, Riyadh, KSA, 2 School of Computer & Systems Sciences, Jawaharlal Nehru University, New Delhi, India,
  9. George J. Klir and Bo Yuan, ‘Fuzzy Sets and Fuzzy Logic-Theory and Applications’ PHI Learning Private Limited, New Delhi (2009).

Publication Details

Published in : Volume 2 | Issue 7 | September 2017
Date of Publication : 2017-09-30
License:  This work is licensed under a Creative Commons Attribution 4.0 International License.
Page(s) : 190-196
Manuscript Number : CSEIT174424
Publisher : Technoscience Academy

ISSN : 2456-3307

Cite This Article :

B. M. Bhairat,M. R. Gosavi, V. M. Thakare, "Implementation of Fuzzy Logic Measures for Mobile Robot Control", International Journal of Scientific Research in Computer Science, Engineering and Information Technology (IJSRCSEIT), ISSN : 2456-3307, Volume 2, Issue 7, pp.190-196, September-2017.
Journal URL :

Article Preview

Follow Us

Contact Us