Mobile robot control using type-2 fuzzy logic system

Author

Phokharatkul, Pisit ; Phaiboon, Supachai

Author_Institution

Dept. of Comput. Eng., Mahidol Univ., Bangkok, Thailand

Volume

1

fYear

2004

fDate

1-3 Dec. 2004

Firstpage

296

Abstract

This paper presents a type-2 fuzzy logic system that can be applied to a mobile robot which is a project associated with using infrared sensors as distance sensors, DC motor control system, knowledge of multiplex, RS-232 interface line, knowledge of microcontroller and knowledge of intelligent system. Infrared sensors are used to measure distance between a robot and obstacle. The type-2 fuzzy logic controller processes the data output to control the direction of the mobile robot movement. The behavior-based control for mobile robot was designed, which consists of two tasks, obstacle avoidance and corridor following. The results obtained demonstrate the efficiency of type-2 fuzzy logic control system and the ability to solve the problems. The experimental results show better performances than those using on-off and type-1 fuzzy logic controls.

Keywords

DC motor drives; collision avoidance; control system synthesis; digital control; fuzzy control; intelligent robots; machine control; mobile robots; motion control; DC motor control system; RS-232 interface line; corridor following; distance sensors; infrared sensor; intelligent system; microcontroller knowledge; mobile robot control; multiplex knowledge; obstacle avoidance; type-2 fuzzy logic control system; Control systems; DC motors; Fuzzy logic; Infrared sensors; Intelligent sensors; Intelligent systems; Microcontrollers; Mobile robots; Robot control; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2004 IEEE Conference on

Print_ISBN

0-7803-8645-0

Type

conf

DOI

10.1109/RAMECH.2004.1438934

Filename

1438934