Implementation of Human Perception in Mobile Robots with Fuzzy Logic for Collision Avoidance

Abstract

With ever increasing complexities and associated dangers of Industrial processes and activities, a major endeavor have been focused in automating the industrial process and activities and reduce human interactions and thus eradicating the associated dangers. Ever since, a heuristic effort have been concentrated in replacing human with robots due to their ability to perform tasks repeatedly, quickly, accurately and without fatigue. Autonomous Mobile Robots, for a long time, have remained in the spotlight of researches due to its potentials in multifunctional applications and its suitability in such industrial applications. However, the key features like path planning and motion planning of Autonomous Mobile Robots needs to have further development before they can be effectively and successfully used in highly dynamic environments, such as, Industrial Environments. This paper addresses the collision avoidance problem within Motion Planning and provides an innovative way, by implementing Human Perception using Fuzzy Inference System, for tackling this problem. The viability and acceptability of the design have been demonstrated by carrying out MATLAB simulations in 2D environments. And to verify the credibility, simulation results have been provided which further ensures the design meets its desired goals.