An Effective DVZ-Fuzzy Logic Pilot for a Mobile Robot using Generic Architecture
Résumé
This paper proposes a discussion of a generic controller basing on an hybrid fuzzy-DVZ algorithm that drives a robotic wheelchair to a desired target and remains free of collision. Furthermore, it overcomes a corner situation constraint present in a number of obstacle avoidance strategies present in the literature. This algorithm is reactive and generic, but the obtained experimental paths are not optimized and to do so we have used a collaborative assistance using a 2D interface with 'virtual moving targets'. Results are demonstrated in experimental tests.