Navigation of mobile robots with soft computing methods

OData support
Dr. Drexler Dániel András
Department of Control Engineering and Information Technology

The purpose of my thesis is to investigate the application of soft computing

methods to solve the navigation problem of a mobile robot moving in an unknown

environment. In my thesis I designed a fuzzy-based controller, that is able to

guide the mobile robot from an initial position to a final. During the motion,

the robot avoids all of the obstacles that are located on the map. I used

genetic algorithms to tune the parameters of the fuzzy controller. The

simulation environment was implemented using MATLAB and Simulink.

The first chapter is a brief summary of the simulation environment, I briefly

describe each of its components. The second chapter is a theoretical overview of

the fuzzy logic. The third chapter deals with implementation details of two

crutial components: the fuzzy steering controller, and the fuzzy speed

controller. In the fourth chapter I explain how I solved the local minima

problem that I discovered while testing the controllers. In the fifth chapter,

I explain how I applied genetic algorithms to tune the fuzzy steering

controller. The thesis ends with the evaluation of the simulation results.


Please sign in to download the files of this thesis.