TY - JOUR ID - 87206 TI - Routing and avoiding collisions of autonomous robots in unknown environments with fixed and moving obstacles JO - Journal of Computational Applied Mechanics JA - JCAMECH LA - en SN - 2423-6713 AU - Makvandi, Alireza AU - Makvandi, Hesam AD - Department of Engineering, Abadan Branch, Islamic Azad University, Abadan, Iran Y1 - 2022 PY - 2022 VL - 53 IS - 2 SP - 169 EP - 182 KW - Autonomous Robots KW - Navigation KW - Avoiding Obstacles KW - Hierarchical Fuzzy Control KW - Type-II Fuzzy Logic Controller DO - 10.22059/jcamech.2022.341592.711 N2 - This research employs a hierarchical fuzzy control method to guide and control autonomous robots in environments containing fixed and moving obstacles. Considering that robots must operate in social environments to serve humans better, they must be able to navigate in the presence of fixed obstacles, moving objects and people without colliding or creating a fear of collision, and reach the final destination. The current work utilizes a hierarchical fuzzy controller with three agents of navigation, obstacle avoidance, and perception to achieve these goals. The coordination between these three agents is done using the definition of special utility functions. The obtained results confirm the correctness of the proposed approach in the successful passage of the robot past the fixed and moving obstacles and bringing it to the target point. UR - https://jcamech.ut.ac.ir/article_87206.html L1 - https://jcamech.ut.ac.ir/article_87206_34c53d4a4049e25882f19626f8ec07f4.pdf ER -