Title :
Fuzzy logic based wall tracking controller for mobile robot navigation
Author :
Farooq, Umar ; Hasan, K.M. ; Asad, Muhammad Usman ; Saleh, Syed Omer
Author_Institution :
Dept. of Electr. Eng., Univ. of The Punjab, Lahore, Pakistan
Abstract :
This paper describes the design and implementation of a fuzzy logic based controller for wall tracking behavior of mobile robot. The controller accepts inputs from three ultrasonic sensors and generates speed commands for differentially steered robot to track wall on its left side at a set distance. The controller is implemented in real time using an inexpensive 8 bit microcontroller and is validated through experimental runs in following the corner trajectory.
Keywords :
fuzzy control; microcontrollers; mobile robots; navigation; path planning; sensors; differentially steered robot; fuzzy logic based controller; microcontroller; mobile robot navigation; ultrasonic sensors; wall tracking behavior; word length 8 bit; Fuzzy logic; Microcontrollers; Mobile robots; Robot sensing systems; Trajectory; fuzzy logic controller; microcontroller implementation; wall following;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2012 7th IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4577-2118-2
DOI :
10.1109/ICIEA.2012.6361077
