Dual Fuzzy Logic Controllers for Omnidirectional Robot Navigation and Obstacle Avoidance

This paper presents the development and implementation of a fuzzy logic control system for a three wheeled omnidirectional robot in an unknown or unstructured environment with real-time navigation planning and avoiding unknown obstacles. In this paper, we used two fuzzy logic controllers like some previous works, however, the main contributions in this work is that we aimed to optimize the navigation path as well as implement an obstacle avoidance fuzzy controller that operates using an omnidirectional robot with three degrees of freedom. To evaluate the efficiency of the dual fuzzy controller, multiple simulations were applied using MATLAB and Robotino Sim platforms.