Fuzzy-logic obstacle avoidance control: Software simulation and hardware implementation

Author

Yousef, Hasan A.

Author_Institution

Dept. of Electr. Eng., Univ. of Qatar, Doha, Qatar

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

1458

Lastpage

1463

Abstract

This paper presents a design technique for fuzzy-logic control (FLC) of a moving vehicle in order to avoid collision with obstacles in an unknown environment. The fuzzy system consists of ultrasonic sensors, fuzzy control algorithm, and a battery-driven car. A visual simulation program is constructed to facilitate the development of the linguistic fuzzy rules and to tune the shape of the membership functions. The software is implemented using a PIC microcontroller.

Keywords

collision avoidance; fuzzy control; fuzzy systems; microcontrollers; road vehicles; ultrasonic devices; FLC; PIC microcontroller; battery-driven car; collision avoidance; design technique; fuzzy control algorithm; fuzzy system; fuzzy-logic control; fuzzy-logic obstacle avoidance control; hardware implementation; linguistic fuzzy rule; membership function; moving vehicle; software simulation; ultrasonic sensor; unknown environment; visual simulation program; Microcontrollers; Object oriented modeling; Sensors; Software; Transmitters; Vehicles; Visualization; Obstacle-avoidance; PIC microcontroller; fuzzy-logic; moving vehicle; visual simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099517