WaiterBot: Comparison of Fuzzy Logic Approaches for Obstacle Avoidance in Dynamic Unmapped Environments Using a Laser Scanning System (LiDAR)

• Jonathan Cerbaro UTFPR
• Dieisson Martinelli UTFPR
• André de Oliveira UTFPR
• João Alberto Fabro UTFPR

Abstract

Fuzzy logic is a control technique commonly applied in mobile robotics. This paper contains the analysis of three implementations of control systems for obstacle avoidance of a mobile robot. The simulation environment simulate situations with both fixed and dynamic obstacles like people walking aiming to compare the fuzzy control approach most suitable to avoid different kinds of obstacles. The analyzed approaches differ by segmenting the sensor data (provided by a LiDAR sensor) into three regions, five regions or by considering only the position of the nearest obstacle. The three approaches were tested in scenarios containing different obstacles and in a simulation where the robot delivers to tables in a dynamic environment, simulating a social event as an application example of a waiter robot.

Keywords: Robot sensing systems, Robots, Collision avoidance, Robot kinematics, Laser radar, Fuzzy logic, Input variables