Fuzzy Logic Obstacle Avoidance Controller for a Mobile Robot using LiDAR

This paper presents the development of a Fuzzy Logic Obstacle Avoidance system using LiDAR sensor. As obstacle avoidance system is imperative for the save movement of a mobile robot in a dynamic environment, the proposed fuzzy logic system allows the robot to make real-time adjustment to its trajectory based on the interpretation of the data provided by the LIDAR. The effectiveness of the Obstacle Avoidance Controller is demonstrated through several experimental tests using the platform Webots.