Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on Earth and other planets have been difficult so far. This paperwork presents the development of a control system for a differential drive-wheeled mobile robot that autonomously controls its position, heading, and speed based on destination information given and surrounding data gathered through mounted proximity and GPS sensors. The intelligence of this control system is implemented by using a fuzzy logic algorithm which is a very powerful tool to handle un-modeled systems like the dynamically changing environment dealt with in this research. The fuzzy controller is used to address the problems associated with navigation in an obstacle-strewn environment. Such issues include position estimation, path planning, and obstacle avoidance. In this study modeling, design, and simulation of the system have been done. The simulation result shows that the developed mobile robot travels successfully from any location to the destination location without colliding with obstacles.

翻译：全球众多研究人员正致力于寻求控制解决方案，以增强机器人在动态环境中自主导航的能力。然而，至今机器人能力仍有限，许多在地球及其他星球上的导航任务仍面临困难。本文针对差动驱动轮式移动机器人，开发了一种基于目标信息及通过安装的接近传感器和GPS传感器采集的周围数据，自主控制其位置、航向和速度的控制系统。该控制系统的智能通过模糊逻辑算法实现，该算法是处理非建模系统（如本研究涉及的动态变化环境）的强有力工具。模糊控制器用于解决障碍物密集环境中的导航问题，包括位置估计、路径规划和避障。本研究完成了系统的建模、设计与仿真。仿真结果表明，所开发的移动机器人能够从任意位置成功抵达目标位置，且不会与障碍物发生碰撞。