Implementation of Fuzzy Logic Controller for Wall Following and Obstacle Avoiding Robot

Aryuanto Soetedjo, M. Ibrahim Ashari, Cosnas Eric Septian

Abstract


This paper presents the development of wall following and obstacle avoiding robot using a Fuzzy Logic Controller. The ultrasonic sensors are employed to measure the distances between robot and the wall, and between the robot and the obstacle. A low cost Raspberry Pi camera is employed to measure the left/right distance between the robot and the obstacle. The Fuzzy Logic Controller is employed to steer the mobile robot to follow the wall and avoid the obstacle according to the multi sensor inputs. The outputs of Fuzzy Logic Controller are the speeds of left motor and right motor. The experimental results show that the developed mobile robot could be controlled properly to follow the different wall positions and avoid the different obstacle positions with the high successful rate of 83.33%.

Full Text:

PDF

References


Prayudhi LH, Widyotriatmo A, Hong KS. Wall following control algorithm for a car-like wheeled-mobile robot with differential-wheels drive. Proceedings of the 15th International Conference on Control, Automation and Systems (ICCAS). Busan. 2015: 779-783.

Lee YT, Chiu CS, Kuo IT. Fuzzy wall-following control of a wheelchair. Proceedings of Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems (IFSA-SCIS). Otsu. 2017: 1-6.

Fahmizal, Kuo CH. Development of a fuzzy logic wall following controller for steering mobile robots. Proceedings of International Conference on Fuzzy Theory and Its Applications (iFUZZY). Taipei. 2013: 7-12.

Lo CW, Wu KL, Liu JS. Wall following and human detection for mobile robot surveillance in indoor environment. Proceedings of IEEE International Conference on Mechatronics and Automation. Tianjin. 2014: 1696-1702.

Li X, Wang D. Behavior-based mamdani fuzzy controller for mobile robot wall-following. Proceedings of International Conference on Control, Automation and Robotics. Singapore. 2015: 78-81.

Yang ZY, Juang CF, Jhan YH. Hexapod robot wall-following control using a fuzzy controller. Proceedings of the 11th IEEE International Conference on Control & Automation (ICCA). Taichung. 2014: 574-578.

Zaki AM, Arafa O, Amer SI. Microcontroller-based mobile robot positioning and obstacle avoidance. Journal of Electrical Systems and Information Technology. 2014; 1: 58-71.

Al-Mutib K, Abdessemed F, Faisal M, Ramdane H, Alsulaiman M, Bencherif M. Obstacle avoidance using wall-following strategy for indoor mobile robots. Proceedings of the 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA). Ipoh 2016: 1-6.

Ibrahim MI, Sariff N, Johari J, Buniyamin N. Mobile robot obstacle avoidance in various type of static environments using fuzzy logic approach. Proceedings of the 2nd International Conference on Electrical, Electronics and System Engineering (ICEESE). Kuala Lumpur. 2014: 83-88.

Kang MC, Kim KS, Noh DK, Han JW, Ko SJ. A robust obstacle detection method for robotic vacuum cleaners. IEEE Transactions on Consumer Electronics. 2014; 60(4): 587- 595.

Kim J, Do Y. Moving obstacle avoidance of a mobile robot using a single camera. Procedia Engineering. 2012; 41: 911-916.

https://www.parallax.com/product/28015

https://www.raspberrypi.org/documentation/hardware/camera/README.md

https://opencv.org/




DOI: https://doi.org/10.33633/jais.v4i1.2168

Refbacks

  • There are currently no refbacks.


Flag Counter

Journal of Applied Intelligent System (e-ISSN : 2502-9401p-ISSN : 2503-0493) is published by LPPM Universitas Dian Nuswantoro Semarang in collaboration with CORIS and IndoCEISS.

Journal of Applied Intelligent System indexed by :


This journal is under licensed of Creative Commons Attribution 4.0 International License.