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  Mobile Robot Navigation with Obstacle Avoidance in Unknown Indoor Environment using MATLAB  
  Authors : Hedjar Ramdane; Mohammed Faisal; Mohammed Algabri; Khalid Al-Mutib
  Cite as: ijcsn.org/IJCSN-2013/2-6/IJCSN-2013-2-6-119.pdf


One of the most recent research areas over the last two decades is the navigation of mobile robots in unknown environments. In this paper, real time navigation for Wheeled Mobile Robot (WMR) using fuzzy logic technique, wireless communication and MATLAB is investigated. Two fuzzy logic controllers (FLCs) with two inputs and two outputs are used to navigate WMR in obstacle ridden environment. Our work combines the behaviors of reaching the target and obstacle avoidance. Goal Seeking Fuzzy Logic Controller (GSFLC) and Fuzzy Logic for Obstacles Avoiding (FLOA) work simultaneously to navigate the robot to its target. The target of this work is to use the WMR in many applications, such as a construction sites or warehouse with dynamic environment. The proposed methods are applied using simulation and experimentation to show the success of the suggested methods.


Published In : IJCSN Journal Volume 2, Issue 6

Date of Publication : 01 December 2013

Pages : 25 - 31

Figures : 25

Tables : --

Publication Link : ijcsn.org/IJCSN-2013/2-6/IJCSN-2013-2-6-119.pdf




Ramdane Hedjar : received the M.S degree in Electronics from Electronic Institute - BLIDA University, ALGERIA, and the Ph.D. degree in Automatic control from the Université des Sciences et Technologie Houari Boumediène ( USTHB), Algeria. His current research interests include the control of nonlinear systems, Asynchronous machines and Synchronous motors, intelligent controller like: Neural network controller, and Fuzzy logic controller. Currently my research is oriented to Networked control systems.

Mohammed Faisal : received the M.S degree in security of wireless sensor network from University of King Saud, and the Ph.D. student in intelligent mobile robot navigation from University of King Saud. His current research interests include the Fuzzy logic controller, mobile Robot navigation, and security of wireless sensor network.

Mohammed Algabri : received the B.S. degree in Computer Science from Umm Al-Qura University, and he is a M.S. student in Computer Science in King Saud University. His current research interests include the Soft Computing techniques, Fuzzy logic controller, mobile Robot navigation, and Speech Processing.

Khalid Al-Mutib : received the Ph.D from Univ. of Reading, UK, 1997. His current research interests include the Bio-inspired robotics control, Fuzzy logic controller, Biometric Control Algorithm, and Intelligent mobile robot.










Energy Efficient Protocol

Wheeled Mobile Robot

Wireless Communication


Fuzzy Logic


EACP provides better lifetime for nodes compared to SEP and CBRP. In addition to reducing energy dissipation, EACP successfully distributes energy-usage among the nodes in the network such that the nodes die randomly and at essentially the same rate. We have used only residual energy for head selection procedure. Presently, EACP consumes higher computational power due to reporting and cluster head selection. The second limitation is that the performances have been compared with standard SEP and CBRP algorithm. Performance of other sensor network head selection like PEGASIS, EEHC, TEEN etc. have not been considered. We only considered energy heterogeneity in future; we take computation heterogeneity as well as link heterogeneity and test the result how it improves the lifetime of system.










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