Autonomous line-follower with fuzzy control

Author

Glowicki, Miron ; Butkiewicz, Bohdan S.

Author_Institution

Inst. of Electron. Syst., Warsaw Univ. of Technol., Warsaw, Poland

fYear

2013

fDate

5-7 June 2013

Firstpage

1

Lastpage

6

Abstract

The aim of the paper is to shown a construction of an autonomous vehicle using fuzzy logic. The vehicle was designed as line-follower. The task of control system is to move a vehicle in such way that it follows a black line marked on the white floor. The vehicle consists of two wheels in the front and a support at the back. The system control is based on input signals from six optical sensors measuring the intensity of light reflected by the floor. Fuzzy logic control algorithm is implemented in ATmega328 microcontroller placed on Arduino board. The work concludes observations, the description of the difficulties encountered in the construction of the device and possible modifications.

Keywords

fuzzy control; microcontrollers; optical sensors; road vehicles; ATmega328 microcontroller; Arduino board; autonomous line follower; autonomous vehicle; fuzzy logic control algorithm; input signals; optical sensors; white floor; DC motors; Pragmatics; Reflection; Reflectivity; Sensors; Vehicles; Wheels; autonomouse vehicle; fuzzy control; line-follower; microcontroller;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing Symposium (SPS), 2013

Conference_Location

Serock

Type

conf

DOI

10.1109/SPS.2013.6623591

Filename

6623591