Authors : Peter Ndajah; Ishaya Emmanuel

Volume/Issue : Volume 11 - 2026, Issue 4 - April

Google Scholar : https://tinyurl.com/2u5fw52c

Scribd : https://tinyurl.com/bdsr7a3h

DOI : https://doi.org/10.38124/ijisrt/26apr115

Note : A published paper may take 4-5 working days from the publication date to appear in PlumX Metrics, Semantic Scholar, and ResearchGate.

Abstract : Obstacle detection and avoidance systems as a research area have been gaining attention lately, but the issues of blind areas and ground/small obstacle problems have received little interest, especially indoor autonomous navigation. In this work, we present an environment-sweep technique for obstacle detection and a fuzzy algorithm for ground obstacle avoidance, surface elevation estimation, and obstacle classification for indoor robots that eliminates the blind area problem. We employed an ultrasonic sensor on a servo for environmental sweep to eliminate blind areas. Results show that the issue of interference was mitigated by the servo sweep technique we propose. Fuzzy algorithms combined with a single ultrasonic sensor reduced the complexity of the robot, thereby improving the robot's performance in real-time. Fuzzy algorithms combined with a differential wheel driving mechanism speed up the inference and actuation process of the proposed system. This is due to fewer rules and a less complex yet effective algorithm design that converts steering angles to different wheel speeds, making the response time much less than the stipulated threshold of 2s as has been determined in previous literature.

Keywords : Self-Adaptation, Linear Regression, Environmental Variant, Design Pattern, Reusability, Software Variant, Load Balancer.

References :

1. Ali Vahidi, Amir Eskandarian, "Research advances in Intelligent Collision Avoidance and Adaptive Cruise Control", IEEE Transactions on Intelligent Transportation Systems, vol. 4, no. 3, pp. 143-153, 2003.    DOI: 10.1109/TITS.2003.821292
2. Farid Bounini, Denis Gingras, Vincent Lapointe, Herve Pollart, "Autonomous Vehicle and Real-Time Road Lanes Detection and Tracking", in IEEE Conference on Vehicular Power and Propulsion (VPPC), Montreal, 2015, pp. 1-6.
3. Geetha Kiran A, Murali S, "Automatic Hump Detection and 3D View Generation from a Single Road Image", in IEEE International Conference on Advances in Computing, Communications and Informatics (ICACCI), New Delhi, 2014, pp. 2232-2238. DOI: 10.1109/ICACCI.2014.6968590
4. Wei Lun Xu, Siu Kwan Tso, Yun Hui Fung, "Sensor-Based Reactive Navigation of a Mobile Robot through Local Target Switching", IEEE Transactions on Systems, Man and Cybernetics, Part C, vol. 29, no. 3, pp. 451-459, 1999. DOI: 10.1109/ICAR.1997.620207
5. Seok Joo Song, Youngmoon Moon, Dong Hwa Lee, Chang Bum Ahn, Yuntae Jo, Jangmyung Choi, "Comparative Study of Fuzzy PID Control and Fuzzy Logic-Based Control for Autonomous Vehicle: A Survey of Algorithms for Enhanced Position Control in Laparoscopic Surgery Robot", Journal of Medical and Biological Engineering, vol. 35, no. 1, pp. 34-44, 2015.    DOI: 10.1007/s40846-015-0003-1
6. Ali Touran, Mark Brackstone, Mark McDonald, "A Collision Model for Safety Evaluation of Autonomous Intelligent Cruise Control", Accident Analysis and Prevention, vol. 31, pp. 567-578, 1999.DOI: 10.1016/S0001-4575(99)00013-5
7. Roberto Manduchi, Alberto Castano, A. Talukder, Larry Matthies, "Obstacle Detection and Terrain Classification for Autonomous Off-Road Navigation", Autonomous Robot, vol. 18, pp. 81-105, 2005.    DOI: 10.1023/B:AURO.0000047286.62481.1d
8. Amit Konar, Indrani Goswani Chakraborty, Sapam Jitu Sirya, Lakhmi C. Jain, Atulya K. Nagar, "A Deterministic Improved Q-Learning for Path Planning of a Mobile Robot", IEEE Transactions on Systems, Man and Cybernetics, vol. 43, no. 5, pp. 1141-1153, 2013. DOI: 10.1109/TSMCA.2012.2227719
9. Jayasree Chakraborty, Amit Konar, Lakhmi C. Jain, Uday Kumar Chakraborty "Cooperative Multi-Robot Path Planning Using Differential Evolution", Journal of Intelligent and Fuzzy Systems, vol. 20, no. 1-2, pp. 13-27, 2009.    DOI: 10.3233/IFS-2009-0412
10. Othmane Hachour, "Path Planning of Autonomous Mobile Robot", International Journal of Systems Applications, Engineering and Development, vol. 2, no. 4, pp. 178-190, 2008.
11. Peter Stone, Mohan Sridhar, Daniel Stronger, Gregory Kuhlmann, Nate Kohl, Peggy Fidelman, Nicholas K. Jonga, "From pixels to multi-robot decision-making: A study in uncertainty," Robotics and Autonomous Systems, vol. 54, no. 11, pp. 933-943, 2006. DOI: 10.1016/j.robot.2006.05.010
12. Antonio Sgorbiss, Renato Zaccaria, "Planning and Obstacle Avoidance in Mobile Robotics", Robotics and Autonomous Systems, vol. 60, no. 4, pp. 628-638, 2012.    DOI: 10.1016/j.robot.2011.12.009
13. Bernard I. Hartman, Yasuhiro Kanayama, Thomas Smith, "Model and Sensor Based Preside Navigation by an Autonomous Vehicle", Advanced Robotics, vol. 3, pp. 98-109, 1989.
14. Ravi Lagisetty, Nirmal K. Philip, Raghavendra Padhi, M. S. Bhat, "Object Detection and Obstacle Avoidance for Mobile Robot Using Stereo Camera", in IEEE International Conference on Control Applications (CCA), Hyderabad, 2013, pp. 605-610. DOI: 10.1109/CCA.2013.6662816
15. Mehran Norouzi, Ali Karambaskhsh, Milad Namazifar, Branislav Savkovic, "Object Obstacle Based Navigation of Mobile Robot with Obstacle Avoidance using Fuzzy Controller", in IEEE International Conference on Control and Automation, Christchurch, 2009, pp. 169-174. DOI: 10.1109/ICCA.2009.5410407
16. Bayanjargal Baasandorj, Aamir Reyaz, Park Joung Ho, Cha Wang Cheol, Deokjin Lee, Kil To Chong "A Mobile Robot Obstacle Avoidance Using Fuzzy Logic and Model Predictive Control", Applied Mechanics and Materials, pp. 922-927, 2014.    DOI: 10.4028/www.scientific.net/AMM.548-549.922
17. H.R. Beom, Hyungsuck Cho, "A Sensor-Based Obstacle Avoidance Controller for a Mobile Robot using Fuzzy Algorithm and Neural Network", in IEEE Proceeding of the International Conference on Intelligent Robots and Systems, 1992, pp. 1470-1475.    DOI: 10.1109/IROS.1992.594576
18. Neal E. Hodge, Mohamed B. Trabia, "Steering Fuzzy Logic Controller for an Autonomous Vehicle", in Proc. of IEEE International Conference on Robotics and Automation: Detroit, Michigan, 1999, pp. 2482-2488. DOI: 10.1109/ROBOT.1999.770478
19. Wei Lun Xu, Siu Kwan Tso, Yun Hui Fung, "Sensor-Based Reactive Navigation of a Mobile Robot through Local Target Switching", in IEEE Transaction on Systems, Man and Cybernetics, Part C, vol. 29, no. 3, pp. 451-459, 1997. DOI: 10.1109/ICAR.1997.620207
20. Feroz Ahmed Siddiky, Mohammed Shamsul Alam, Tanveer Ahsan, "High-Performance Reliable Obstacle Detection and Height Measurement by Stereo Camera for Intelligent Home Service Robot", in Proc. of IEEE 10th International Conference on Computer and Information Technology, Dhaka, 2007, pp. 1-6. DOI: 10.1109/ICCITECHN.2007.4579364
21. Huihai Cui, Jinze Song, Daxue Liu, "Ultrasonic Array Based Obstacle Detection in Automatic Parking", Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 255. Springer, Berlin, Heidelberg. 2013, pp. 129-140 https://doi.org/10.1007/978-3-642-38460-8_15.
22. Zhang Hongping, Liu Quanbo, Chen Wenliang, Sun Fe, Chen Dapeng, "Doppler Shift and Height Detection of Obstacle Based on FMCW Radar Sensor", in Proc. of IEEE International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, Xi’an, China, 2015, pp. 399-402. DOI: 10.1109/CyberC.2015.64
23. Pierrick Grandjean, Larry Matthies, "Perception Control for Obstacle Detection by a Cross-Country Rover", In Proceeding of IEEE International Conference on Robotics and Automation, Atlanta, 1993, pp. 20-27. DOI: 10.1109/ROBOT.1993.292118
24. Stefan Baten, Michael Lützeler, and Ernst D. Dickmanns, "Techniques for autonomous, off-road navigation", IEEE Intelligent Systems Magazine, pp. 57–65, 1998. DOI: 10.1109/5254.736003
25. Alonzo Kelly, "An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem", Carnegie Mellon Robotics Institute, Ph.D. Thesis CMU-RI-TR-95-33, 1995.
26. John Hancock, "High-Speed Obstacle Detection for Automated Highway Applications", Carnegie Mellon Robotics Institute Technical Report, CMU-RI-TR-97-17, 1997.
27. Johann Borenstein, Yoram Koren, "Obstacle Avoidance with Ultrasonic Sensors", International Journal of Robotics and Automation, vol. 4, no. 2, pp. 213-218, 1988.    DOI: 10.1109/56.2085
28. Azeta Joseph, Christian Bolu, Daniel invi, Abiodun Abioye, "Obstacle detection using an ultrasonic sensor for a mobile robot," IOP Conf. Series: Materials Science and Engineering, vol. 707, 2019, 012012. DOI 10.1088/1757-899X/707/1/012012
29. Jianwei Zhao, Jianhua Fang, Shouzhong Wang, Kun Wang, Chengxiang Liu, Tao Han, "Obstacle Avoidance of Multi-Sensor Intelligent Robot Based on Road Sign Detection", Sensors, vol. 21, no. 20, 6777, 2021. DOI: https://doi.org/10.3390/s21206777
30. Aldis Baums, Gordyushin, A. “Response time of a mobile robot”, Automatic and Control Computer Science 47, 352–358 (2013). DOI: 10.3103/S0146411613060023.
31. Martin Dekan, František Duchoň, Ladislav Jurišica, Anton Vitko and Andrej Babinec, "iRobot Create Used in Education," Journal of Mechanical Engineering and Automation, vol. 3, no. 4, pp. 197-202, 2013. DOI:10.17265/2159-5275/2013.04.002
32. Tauã M. Cabreira, Gracaliz P. Dimuro, Marilton S. de Aguiar, "An Evolutionary Learning Approach for Path Planning with Fuzzy Obstacle Detection and Avoidance in a Multi-Agent Environment," in IEEE third Brazilian Workshop on Social Simulation, Brazil, 2012, pp. 60-67. DOI Bookmark: 10.1109/BWSS.2012.13
33. Hau-Shiue Juang, Kai Yew Lum, "Design and control of a two-wheel self-balancing robot using the Arduino microcontroller board," in Proc. of IEEE 10th International Conference on Control and Automation (ICCA), pp. 634 - 639, 12-14 June 2013. Date Added to IEEE Xplore: 22 July 2013. DOI: 10.1109/ICCA.2013.6565146
34. André Araújo, David Portugal, Micael S. Couceiro, Rui P. Rocha, "Integrating Arduino-Based Educational Mobile Robots in ROS," Journal of Intelligent & Robotic Systems, vol. 77, no. 2, pp. 281-298, 2020.    DOI: 10.1007/s10846-013-0007-4