title: Sensor Fusion Based Model for Collision Free Mobile Robot Navigation.
abstract: Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and 24 fuzzy rules for the robot's movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes.
authors.affiliation: Computer Science and Engineering Department, University of Bridgeport, 126 Park Ave, Bridgeport, CT 06604, USA. maalmasr@my.bridgeport.edu.
authors.forename: Marwah
authors.initials: M
authors.lastname: Almasri
authors.affiliation: Computer Science and Engineering Department, University of Bridgeport, 126 Park Ave, Bridgeport, CT 06604, USA. elleithy@bridgeport.edu.
authors.forename: Khaled
authors.initials: K
authors.lastname: Elleithy
authors.affiliation: Computer Science and Engineering Department, University of Bridgeport, 126 Park Ave, Bridgeport, CT 06604, USA. aalajlan@my.bridgeport.edu.
authors.forename: Abrar
authors.initials: A
authors.lastname: Alajlan
keywords: autonomous mobile robots; collision avoidance; fusion; fuzzy logic; path following