An effective fuzzy-DVZ controller for an omnidirectional mobile robot

Lobna Amouri (1) , Cyril Novales (1) , Mohamed Jallouli (2) , Gérard Poisson (1) , Nabil Derbel (2)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
2 ICOS - Intelligent Control, design & Optimization of complex Systems

This paper presents a fuzzy-logic controller and navigation algorithm for guiding an omnidirectional robot. Based on introduced start and reference points, with respect to the inverse kinematic model, the fuzzy logic controller is used to steer the robot to follow the planned poses so as to reach the target point. Our contribution consist on extending a behavioral approach basing on Deformable Virtual Zone (DVZ) for the case of an omnidirectional robot. Furthermore the DVZ algorithm is computed with the fuzzy controller to ensure robot navigation in environments with narrow obstacles and corners. Simulation tests taking into consideration the kinematics of an omnidirectional robot (ROMNI), demonstrate that the robot can successfully navigates within a reasonable amount of time.

Domaines: Automatique / Robotique

Lobna Amouri, Cyril Novales, Mohamed Jallouli, Gérard Poisson, Nabil Derbel. An effective fuzzy-DVZ controller for an omnidirectional mobile robot. Systems, Signals and Devices (SSD),, Mar 2012, Chemnitz, Germany. pp.1-6, ISBN: 978-1-4673-1590-6, ⟨10.1109/SSD.2012.6197996⟩. ⟨hal-00707983⟩