Path planning and control of a mobile social robot in an environment with moving obstacles in order to reach the mobile target using fuzzy control

The main objective of this paper is to design a fuzzy control system for path planning and controlling mobile robots in a social environment with moving obstacles. The control system, with the target position given at any moment, produces the appropriate path to reach the target without encountering obstacles. It is assumed that there are fixed and moving obstacles, including humans, in the social environment. Also, the robot moves in such a way that the emotions of the individual are considered and do not cause fear or change in the behavior of people. Robot kinematic model and obstacles are considered to reduce the computational volume and simplicity of implementation. After performing various simulations, in order to validate the proposed method, the designed control system is implemented on the Scott laboratory robot. For performing the presented algorithm, the graphical interface designed by Matlab software, the compass module added to the existed system. Finally, the results obtained from the simulation and the laboratory system are evaluated and compared for predefined path and obstacles.