Navigation of an omnidirectional robot based on Takagi-Sugeno Logic Model Type-I

In this article we present an algorithm for control and navigation of an omnidirectional mecanum wheels with based on a Takagi-Sugeno Fuzzy Model Type-I, aiming to avoid various obstacles in each environment defined. To achieve this, the robot receives the data from 3 proximity sensors and readjusts its direction and speeds to control its navigation. This article presents research work results obtained from the implementation and experimentation of the fuzzy algorithm. In the simulation, the duration was defined. The robot used was a KUKA youBot, to which 3 proximity sensors were installed to detect the various obstacles within the simulated scenario.