Development of a Mecanum-Wheeled Mobile Robot for Dynamic- and Static-Obstacle Avoidance Based on Laser Range Sensor

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dc.contributor.authorMatli, Musa
dc.contributor.authorAlbayrak, Ahmet
dc.contributor.authorBayir, Raif
dc.date.accessioned2024-09-29T16:09:47Z
dc.date.available2024-09-29T16:09:47Z
dc.date.issued2020
dc.departmentKarabük Üniversitesien_US
dc.description.abstractThis study aims to present an idea about the practical consequences of using mobile robots with Mecanum wheels. For mobile robots, an approach is proposed to avoid obstacles without location and map information. This approach is presented using a series of developed solutions. This article shares the process on how a set of discussed conceptual methodologies can be applied as well as their practical results. This method is provided using fuzzy logic and gap tracking. LIDAR is used to recognize obstacles around the mobile robot. By using the LIDAR, the robot detects gaps around it and moves according to fuzzy logic. The fuzzy logic consists of three inputs, an output, and 45 rules. The first of the membership functions represents the membership function that replaces the obstacle. The second membership function calculates the distance to the obstacle. The final login membership function is used to determine the angle between the obstacle and robot view. The output membership function represents the membership function that moves the robot. The results are analyzed under three different scenarios with five different experiments for each scenario. The results show that the mobile robot can avoid obstacles without location and map information. We believe that the proposed method can be used in mobile robots such as guard and service robots.en_US
dc.description.sponsorshipKarabuk University Scientific Research Project Coordinator [KBU BAP-18-YL-157]en_US
dc.description.sponsorshipThis work was supported as a KBU BAP-18-YL-157 coded BAP project. The authors would like to thank the Karabuk University Scientific Research Project Coordinator for its financial support.en_US
dc.identifier.doi10.5391/IJFIS.2020.20.3.188
dc.identifier.endpage200en_US
dc.identifier.issn1598-2645
dc.identifier.issn2093-744X
dc.identifier.issue3en_US
dc.identifier.scopus2-s2.0-85096059080en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage188en_US
dc.identifier.urihttps://doi.org/10.5391/IJFIS.2020.20.3.188
dc.identifier.urihttps://hdl.handle.net/20.500.14619/7776
dc.identifier.volume20en_US
dc.identifier.wosWOS:000577363000003en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherKorean Inst Intelligent Systemsen_US
dc.relation.ispartofInternational Journal of Fuzzy Logic and Intelligent Systemsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectFuzzy logicen_US
dc.subjectMobile roboten_US
dc.subjectFollow-the-gap methoden_US
dc.subjectMecanum wheelen_US
dc.titleDevelopment of a Mecanum-Wheeled Mobile Robot for Dynamic- and Static-Obstacle Avoidance Based on Laser Range Sensoren_US
dc.typeArticleen_US

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