E-puck Mobile Robot Obstacles Avoidance Controller Using the Fuzzy Logic Approach

This paper presents the development of the E-puck mobile robot controller using a fuzzy logic approach for obstacle avoidances in various static environments. The WEBOTS simulator was selected to test E-puck performances in finding a free path to the desired target while avoiding obstacles within the environment. This E-puck model is equipped with eight proximity sensors and driven by two DC motors that will be the input and output to the development of the fuzzy inference system of the fuzzy logic controller. The execution of fuzzy rules depended on the input and output membership function which consists of the sensor distance, velocity, and turning angle of the E-puck. The results proved that the E-puck robot can avoid the obstacles successfully while heading towards the goal point in several test environments. Different numbers and shapes of obstacles were allocated within the environment. The trajectory and time taken were recorded to validate the effectiveness and robustness of the proposed fuzzy logic controller in avoiding obstacles. The trajectory indicates the safe path obtained and the time taken most when the E-puck finds a path in a complex environment as compared to the simple environment. The local minima problem can also be avoided using fuzzy control.