A study on real-time implementation of obstacle avoidance for autonomous travelling robot

We Propose a new approach to the design and real implementation of wall following and fuzzy perception concept with a non-holonomic mobile robot named KU-DAWIN Robot. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities of the intelligent control system and its practical applicability, teleoperation and planned behaviors, together with their combination with reactive ones, have been considered. Experimental results, of an application to control the KU-DAWIN Robot autonomous vehicle, demonstrate the robustness of the proposed method.