Mobile Robot using Fuzzy Logic
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Date
2013
Journal Title
Journal ISSN
Volume Title
Publisher
Uva Wellassa University of Sri Lanka
Abstract
Fuzzy logic controllers have gained popularity in the past few decades with highly successful
implementation in many fields. Fuzzy logic enables designers to control complex systems more
a low-cost
microcontroller-based tool for fuzzy logic controlled, line following mobile robot.
educational
Traditional methods to control any dynamic system require the use of some knowledge, or
model, of the system to be controlled. An accurate model is crucial for the successful
implementation of a control algorithm. Unfortunately, most systems in real life are nonlinear,
highly complex, and too difficult or impossible to model accurately. Fuzzy logic is a
mathematical system which helps to reduce the complexity of controlling nonlinear systems
(pierreguillemin, 1996) (vamsimohanperi, 2002) (Nhivekaret et al., 2011). Fuzzy logic
expresses operational laws of a control system in linguistic terms instead of the traditionally
used mathematical equations. The linguistic terms are most often expressed in the form of
logical expressions, such as IF_THEN (Nhivekaret et al., 2011).
The line following robot presented here follows a black line drawn over white surface. When
the curve path comes ahead the speed is reduced using fuzzy logic control algorithms. The
inputs for the robot were obtained from infrared sensors mounted on the robot platform. These
inputs were sent to a Microchip PIC16F877 microcontroller on the robot, which analyses the
dataand provides the necessary control signal. A fuzzy logic controller is used to control the
robot’s motion along the predefined path. The robot algorithm was first done in Matlab and the
fuzzy logic rules were optimized for the results possible. Later the microcontroller was
programmed in C language using a PIC C-compiler and tested (Nhivekar et al, 2011).
Experimental results are presented to show the performance of the controller.
Description
Keywords
Science and Technology, Technology, Computer Science, Robotics, Mobile