Error Analysis in Applying Fuzzy Logic Based Obstacle Avoidance Algorithm for Robot Soccer

2013 ◽  
pp. 90-100 ◽  
Author(s):  
Jinjuli Jameson ◽  
Siti Norul Huda Sheikh Abdullah ◽  
Keith Mackinjal Maluda
Keyword(s):  
Fuzzy Logic ◽  
Error Analysis ◽  
Obstacle Avoidance ◽  
Robot Soccer

Fuzzy Logic Controller for Obstacle Avoidance of Mobile Robot

2019 ◽  
Vol 20 (1) ◽  
pp. 51-62
Author(s):  
Rajmeet Singh ◽  
Tarun Kumar Bera
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Dynamic Model ◽  
Obstacle Avoidance ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Bond Graph ◽  
Membership Functions ◽  
Current Position ◽  
Dc Motors

AbstractThis work describes design and implementation of a navigation and obstacle avoidance controller using fuzzy logic for four-wheel mobile robot. The main contribution of this paper can be summarized in the fact that single fuzzy logic controller can be used for navigation as well as obstacle avoidance (static, dynamic and both) for dynamic model of four-wheel mobile robot. The bond graph is used to develop the dynamic model of mobile robot and then it is converted into SIMULINK block by using ‘S-function’ directly from SYMBOLS Shakti bond graph software library. The four-wheel mobile robot used in this work is equipped with DC motors, three ultrasonic sensors to measure the distance from the obstacles and optical encoders to provide the current position and speed. The three input membership functions (distance from target, angle and distance from obstacles) and two output membership functions (left wheel voltage and right wheel voltage) are considered in fuzzy logic controller. One hundred and sixty-two sets of rules are considered for motion control of the mobile robot. The different case studies are considered and are simulated using MATLAB-SIMULINK software platform to evaluate the performance of the controller. Simulation results show the performances of the navigation and obstacle avoidance fuzzy controller in terms of minimum travelled path for various cases.

Generating Navigational Audio Instructions Using Fuzzy Logic

2015 ◽  
Vol 220-221 ◽  
pp. 435-438
Author(s):  
Jan Hrbacek ◽  
Vladislav Singule
Keyword(s):  
Fuzzy Logic ◽  
Obstacle Avoidance ◽  
Urban Areas ◽  
Visually Impaired ◽  
Information Unit ◽  
Surrounding Environment ◽  
University Of Technology ◽  
Fuzzy Techniques ◽  
And Robotics

The paper presents the application of fuzzy logic principles to generation of audio instructions. The described subsystem forms a part of an information unit for the visually impaired, which is developed at the Institute of Production Machines, Systems and Robotics at Brno University of Technology. The unit will provide visually impaired users with the localization, navigation and obstacle avoidance functionality as well as enable them to independently traverse through previously unvisited (primarily urban) areas. The majority of sightless persons are able to traverse such areas only with human accompaniment that compensates their missing knowledge of the surrounding environment. The utilization of fuzzy techniques brings the human-like behaviour of the navigational interface and a scalable mechanism for generating navigational instructions.

Sign in / Sign up

Export Citation Format

Share Document