Motion control design for unmanned ground vehicle in dynamic environment using intelligent controller

Abstract

Purpose -The motion control of unmanned ground vehicles is a challenge in the industry of automation. In this paper, a fuzzy inference system based on sensory information is proposed for the purpose of solving the navigation challenge of unmanned ground vehicles in cluttered and dynamic environments.Design/methodology/approach -The representation of the dynamic environment is a key element for the operational field and for the testing of the robotic navigation system. If dynamic obstacles move randomly in the operation field, the navigation problem becomes more complicated due to the coordination of the elements for accurate navigation and collision-free path within the environmental representations. This paper considers the construction of the fuzzy inference system which consists of two controllers. The first controller uses three sensors based on the obstacles distances from the front, right and left. The second controller employs the angle difference between the heading of the vehicle and the targeted angle to obtain the optimal route based on the environment and reach the desired destination with minimal running power and delay. The proposed design shows an efficient navigation strategy that overcomes the current navigation challenges in dynamic environments.Findings -Experimental analyses conducted for three different scenarios to investigate the validation and effectiveness of the introduced controllers based on the fuzzy inference system. The reported simulation results were obtained using MATLAB software package. The results show that the controllers of the fuzzy inference system consistently perform the manoeuvring task and manage the route plan efficiently, even in a complex environment that populated with dynamic obstacles. The paper demonstrates that the destination was reached optimally using the shortest free route.Research limitations/implications -The paper represents efforts toward building a dynamic environment filled with dynamic obstacles that move to at various speeds and directions. The methodology of designing the fuzzy inference system is accomplished to guide the unmanned ground vehicle to the desired destination while avoiding collisions with obstacles.However, our methodology is approached using two-dimensional analyses. Hence, the paper suggests several extensions and variations to develop a three-dimensional strategy for further improvement.Originality/value -This paper presents the design of a fuzzy inference system and its characterizations in dynamic environments, specifically for obstacles that move at different velocities. That facilitates an improved functionality of the operation of unmanned ground vehicles.The first author would like to express his gratefulness for his sponsor, the Ministry of Higher Education and Scientific Research in Iraq for funding his PhD scholarship in the United Kingdom. He also would like to thank the University of Basrah in Iraq for the support.2

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