Analysis of the behavior of a mobile robot with precise and fuzzy pid controller in an uncertain environment

Abstract

The aim of this study was to develop methods for building intelligent systems that ensure safe movement on a planned and specified trajectory in an environment with unknown obstacles for planning the movement of a mobile robot. To achieve this goal, modern concepts and methods of planning systems development were analyzed. By moving a mobile robot in an unknown environment, it is proposed to develop an intelligent system for planning its modeling in an uncertain static environment, to realize an intelligent system for planning the movement of a mobile robot in an unknown dynamic environment and modeling the resulting system. As a result, analytical studies were conducted on a computer using mathematical modeling, analytical geometry, kinematic and dynamic analysis, fuzzy logic, neural networks, robotics, mechatronics, discrete integration and applied programming methods, and experimental studies were conducted using a mobile robot model.