Conception, Réalisation et Commande Floue d’un Robot Mobile Soutenu

Abstract

The work presented in this document concerns the conception, realization and fuzzy control of mobile robot. We have proposed a reactive navigation system based on the fuzzy logic, this system allows the robot to navigate terrain and reach its target with avoiding the obstacles. Also we have adjusted this system by an off-line neuro-fuzzy algorithm. And we have achieved a 3D platform of simulation for the validation of our approach. Also we have realized a real differential mobile robot, equipped with two odometers and three infrared sensors and one radio module for the communication between the robot and computer. The velocity and position of robot are controlled by a classical PID. And finally we have realized a software application that permits to send a target punctual coordinates toward the robot.