Title :
Development of a fuzzy logic wall following controller for steering mobile robots
Author :
Fahmizal ; Chung-Hsien Kuo
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan
Abstract :
This paper describes the design of a fuzzy logic controller for wall following-navigation of a differentially steered mobile robot. To maintain the distance of the mobile robot from the wall is a basic behavior that mobile robot should have. This paper proposes embedded fuzzy logic controller in order to make the mobile robot can running with smoothly and stable for wall following case. The designed fuzzy controller uses MATLAB® and it was simulated using Microsoft Visual C++. To verify our approach, a differentially steered mobile robot is implemented with ArduinoTM Nano. The experiment of simulation and test results methodology were presented to show the validity of the proposed.
Keywords :
C++ language; control system synthesis; fuzzy control; fuzzy logic; mobile robots; visual languages; ArduinoTM Nano; MATLAB; Microsoft Visual C++; differentially steered mobile robot; embedded fuzzy logic controller; fuzzy controller design; fuzzy logic controller design; fuzzy logic wall following controller; steering mobile robots; wall following-navigation; Educational institutions; Fuzzy logic; Mobile robots; Robot kinematics; Robot sensing systems; fuzzy logic controller; mobile robot; wall following navigation;
Conference_Titel :
Fuzzy Theory and Its Applications (iFUZZY), 2013 International Conference on
Conference_Location :
Taipei
DOI :
10.1109/iFuzzy.2013.6825401