Error Analysis in Applying Fuzzy Logic Based Obstacle Avoidance Algorithm for Robot Soccer

Abstract

Obstacle avoidance is an important mode in robot soccer systems. The aim of obstacle avoidance is to ensure collision free in an environment with obstacles for the robot to move from its position to its desired target. This paper presents an error analysis on applying fuzzy logic based obstacles avoidance algorithm for robot soccer. The fuzzy sets are used to control the turning angle of the robot in order to avoid the obstacles in its path. The sets are developed based on two factors; a) the distance between the robot and the obstacle and b) the current orientation of the robot. The proposed algorithm is demonstrated in simulations and compared for several scenarios in experiments to evaluate its performance. © Springer-Verlag Berlin Heidelberg 2013.