Path Planning and Control of Autonomous Robotic Agent Using Mamdani Based Fuzzy Logic Controller and ARDUINO UNO Micro Controller

2015 ◽  
pp. 175-183 ◽  
Author(s):  
Pratap Kumar Panigrahi ◽  
Sampa Sahoo
Keyword(s):  
Fuzzy Logic ◽  
Path Planning ◽  
Fuzzy Logic Controller ◽  
Planning And Control ◽  
Arduino Uno ◽  
And Control ◽  
Robotic Agent

Fuzzy Logic in Hole Drilling of Composites

1994 ◽  
Author(s):  
Aditya Thadani ◽  
Athamaram H. Soni
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Thrust Force ◽  
Cutting Speed ◽  
Research Data ◽  
Theoretical Research ◽  
Hole Drilling ◽  
Tool Geometry ◽  
Drilling Process ◽  
And Control

Abstract Experimental and theoretical research data was utilized in building a Fuzzy Logic Controller model applied to simulate the drilling process of composite materials. The objective is to have a better understanding and control of delamination of composites during the drilling process and at the same time to improve the hole finish by controlling fraying and splintering. By controlling the main issues in the drilling process such as feed rate, cutting speed, thrust force, and torque generated in addition to the tool geometry, it is possible to optimize the drilling process avoiding the conventionally encountered problems.

Artificial Neural Networks Used As a Rule Selector for Fuzzy Logic Controllers

1993 ◽  
Author(s):  
Shou-Heng Huang ◽  
Ron M. Nelson
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Absolute Error ◽  
Operating Conditions ◽  
Delta Rule ◽  
Rule Sets ◽  
Artificial Neural ◽  
Artificial Neural Network Ann ◽  
Set Up ◽  
And Control

Abstract A feedforward, three-layer, partially-connected artificial neural network (ANN) is proposed to be used as a rule selector for a rule-based fuzzy logic controller. This will allow the controller to adapt to various control modes and operating conditions for different plants. A principal advantage of an ANN over a look up table is that the ANN can make good estimates to fill in for missing data. The control modes, operating conditions, and control rule sets are encoded into binary numbers as the inputs and outputs for the ANN. The General Delta Rule is used in the backpropagation learning process to update the ANN weights. The proposed ANN has a simple topological structure and results in a simple analysis and relatively easy implementation. The average square error and the maximal absolute error are used to judge if the correct connections between neurons are set up. Computer simulations are used to demonstrate the effectiveness of this ANN as a rule selector.

scholarly journals DC Motor Speed Control Using Mamdani Fuzzy Logic Based on Microcontroller

Jurnal Teknik ◽  
2020 ◽  
Vol 9 (2) ◽  
Author(s):  
Sumardi Sadi
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Dc Motor ◽  
Motor Speed ◽  
Logic Control ◽  
Control Command ◽  
Arduino Uno

DC motors are included in the category of motor types that are most widely used both in industrial environments, household appliances to children's toys. The development of control technology has also made many advances from conventional control to automatic control to intelligent control. Fuzzy logic is used as a control system, because this control process is relatively easy and flexible to design without involving complex mathematical models of the system to be controlled. The purpose of this research is to study and apply the fuzzy mamdani logic method to the Arduino uno microcontroller, to control the speed of a DC motor and to control the speed of the fan. The research method used is an experimental method. Global testing is divided into three, namely sensor testing, Pulse Width Modulation (PWM) testing and Mamdani fuzzy logic control testing. The fuzzy controller output is a control command given to the DC motor. In this DC motor control system using the Mamdani method and the control system is designed using two inputs in the form of Error and Delta Error. The two inputs will be processed by the fuzzy logic controller (FLC) to get the output value in the form of a PWM signal to control the DC motor. The results of this study indicate that the fuzzy logic control system with the Arduino uno microcontroller can control the rotational speed of the DC motor as desired.

Path optimization for navigation of a humanoid robot using hybridized fuzzy-genetic algorithm

2019 ◽  
Vol 7 (3) ◽  
pp. 112-119 ◽  
Author(s):  
Asita Kumar Rath ◽  
Dayal R. Parhi ◽  
Harish Chandra Das ◽  
Priyadarshi Biplab Kumar ◽  
Manoj Kumar Muni ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Fuzzy Logic ◽  
Path Planning ◽  
Humanoid Robot ◽  
Fuzzy Logic Controller ◽  
Target Location ◽  
Target Position ◽  
Content Type ◽  
Hybrid Controller ◽  
Fuzzy Genetic

Purpose Humanoids have become the center of attraction for many researchers dealing with robotics investigations by their ability to replace human efforts in critical interventions. As a result, navigation and path planning has emerged as one of the most promising area of research for humanoid models. In this paper, a fuzzy logic controller hybridized with genetic algorithm (GA) has been proposed for path planning of a humanoid robot to avoid obstacles present in a cluttered environment and reach the target location successfully. The paper aims to discuss these issues. Design/methodology/approach Here, sensor outputs for nearest obstacle distances and bearing angle of the humanoid are first fed as inputs to the fuzzy logic controller, and first turning angle (TA) is obtained as an intermediate output. In the second step, the first TA derived from the fuzzy logic controller is again supplied to the GA controller along with other inputs and second TA is obtained as the final output. The developed hybrid controller has been tested in a V-REP simulation platform, and the simulation results are verified in an experimental setup. Findings By implementation of the proposed hybrid controller, the humanoid has reached its defined target position successfully by avoiding the obstacles present in the arena both in simulation and experimental platforms. The results obtained from simulation and experimental platforms are compared in terms of path length and time taken with each other, and close agreements have been observed with minimal percentage of errors. Originality/value Humanoids are considered more efficient than their wheeled robotic forms by their ability to mimic human behavior. The current research deals with the development of a novel hybrid controller considering fuzzy logic and GA for navigational analysis of a humanoid robot. The developed control scheme has been tested in both simulation and real-time environments and proper agreements have been found between the results obtained from them. The proposed approach can also be applied to other humanoid forms and the technique can serve as a pioneer art in humanoid navigation.

Fuzzy Logic Control of a Laboratory Magnetic Levitation System

2003 ◽  
Author(s):  
V. Ram Mohan Parimi ◽  
Piyush Jain ◽  
Devendra P. Garg
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Magnetic Levitation ◽  
Rate Of Change ◽  
Control Laboratory ◽  
Logic Control ◽  
Levitation System ◽  
Magnetic Levitation System ◽  
And Control

This paper deals with the Fuzzy Logic control of a Magnetic Levitation system [1] available in the Robotics and Control Laboratory at Duke University. The laboratory Magnetic Levitation system primarily consists of a metallic ball, an electromagnet and an infrared optical sensor. The objective of the control experiment is to balance the metallic ball in a magnetic field at a desired position against gravity. The dynamics and control complexity of the system makes it an ideal control laboratory experiment. The student can design their own control schemes and/or change the parameters on the existing control modes supplied with the Magnetic Levitation system, and evaluate and compare their performances. In the process, they overcome challenges such as designing various control techniques, choose which specific control strategy to use, and learn how to optimize it. A Fuzzy Logic control scheme was designed and implemented to control the Magnetic Levitation system. Position and rate of change of position were the inputs to Fuzzy Logic Controller. Experiments were performed on the existing Magnetic Levitation system. Results from these experiments and digital simulation are presented in the paper.

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