Fuzzy Logic Control for an Autonomous Robot

In this paper an autonomous wall-following robot networks have demonstrated the utility and potential of is presented. The inputs are obtained from ultrasonic sensors these paradigms for intelligent control of complex systems. mounted. These inputs are sent to a Microchip PIC16F877 In particular, fuzzy logic has proven to be a convenient tool microcontroller onboard the robot, which analyses the data for handling real world uncertainty and knowledge and provides the necessary control signal. A fuzzy logic representation. controller is used to control the robot’s

motion along the predefined path. The robot was first modeled in Matlab Simulink and the fuzzy logic rules were optimized for the best A. Literature Survey results possible. Later the microcontroller was programmed in As regards the corridor and wall-following C language using a PCW C-compiler and tested. Experimental navigation problem, some control algorithms based on results are presented to show the performance of the artificial vision have been proposed. In [1], image controller. processing is used to detect perspective lines to guide the robot along the center axis of the corridor. In [2], two lateral cameras mounted on the robot are used, and the optical flow I. I NTRODUCTION is computed to compare the apparent image velocity on both Mobile robots are mechanical devices capable of cameras in order to control robot motion. In [3, 4], one moving in an environment with a certain degree of camera is used to drive the robot along the corridor axis or autonomy. Autonomous navigation is associated with the to follow a wall, by using optic flow computation and its availability of external sensors that capture information temporal derivatives. In [5], a globally stable control from the environment through visual images, or through algorithm for wall-following based on incremental encoders distance or proximity measurements. The most common and one sonar sensor is developed. In [6], a theoretical sensors are distance sensors (ultrasonic, laser, etc.) capable model of a fuzzy based reactive controller for a non- of detecting obstacles and of measuring the distance to walls holonomic mobile robot is developed. In [7], an ultrasonic close to the robot path. When advanced autonomous robots sensor is used to steer an autonomous robot along a concrete navigate within indoor environments (industrial or civil path using its edged as a continuous landmark. In [8], a buildings), they have to be endowed with the ability to mobile robot control law for corridor navigation and wall move through corridors, to follow walls, to turn corners and following based on sensor and odometric sensorial to enter open areas of the rooms. information is proposed. In attempts to formulate approaches that can handle real world uncertainty, researchers are frequently faced with B. Paper Layout the necessity of considering tradeoffs between developing In Section II the mathematical model of the robot is complex cognitive systems that are difficult to control, or developed. In Section III the fuzzy logic controller is adopting...

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