Design and implementation of a hexapod with 2-Degree-Of- Freedom legs and its fuzzy-controller for the obstacle avoidance

2009 ◽  
Author(s):  
Jahanzeb Rajput ◽  
K. M. Hasan
Keyword(s):  
Obstacle Avoidance ◽  
Fuzzy Controller ◽  
Degree Of Freedom ◽  
Design And Implementation

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.

scholarly journals Autonomous system to control a mobile robot

2020 ◽  
Vol 9 (4) ◽  
pp. 1711-1717
Author(s):  
Ayman Abu Baker ◽  
Yazeed Yasin Ghadi
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Autonomous Navigation ◽  
Fuzzy Controller ◽  
Computational Time ◽  
Ongoing Effort ◽  
Unstructured Environment ◽  
Adaptive Inference ◽  
Real Time Applications ◽  
Linguistic Labels

This paper presents an ongoing effort to control a mobile robot in unstructured environment. Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits. In this paper, the fuzzy controller is used to tackle the problem of mobile robot autonomous navigation in unstructured environment. The objective is to make the robot move along a collision free trajectory until it reaches its target. The proposed approach uses the fuzzified, adaptive inference engine and defuzzification engine. Also number of linguistic labels is optimized for the input of the mobile robot in order to reduce computational time for real-time applications. The proposed fuzzy controller is evaluated subjectively and objectively with other approaches and also the processing time is taken in consideration.

Research of Robot of Obstacle Avoidance and Navigation

2012 ◽  
Vol 160 ◽  
pp. 180-184
Author(s):  
Xiao Chen Lai ◽  
Si Min Lu ◽  
Xi Chen ◽  
Pei Feng Qiu ◽  
Li Kun Li
Keyword(s):  
Obstacle Avoidance ◽  
Potential Field ◽  
Inertial Navigation ◽  
Artificial Potential Field ◽  
Design And Implementation

Based on algorithms of artificial potential field and inertial navigation positioning, the design and implementation of robot is introduced with the features of obstacle avoidance and navigation automatically. Experiments show that the robot can navigate to destination effectively without any collision.

Design and Implementation of a Control and Monitoring Scheme for Spacecraft Obstacle Avoidance

2021 ◽  
Author(s):  
Chuanguo Chi ◽  
Guo-Ping Liu ◽  
Ji Zhang ◽  
Zhong-Hua Pang ◽  
Bingzhi Hou
Keyword(s):  
Obstacle Avoidance ◽  
Monitoring Scheme ◽  
Design And Implementation

Design and Implementation of an Intelligent Cleaning Robot Based on Fuzzy Control

2014 ◽  
Vol 1003 ◽  
pp. 221-225
Author(s):  
Hai Yan Liu
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Control ◽  
Obstacle Avoidance ◽  
Control Method ◽  
Sensor System ◽  
Service Robots ◽  
Design And Implementation ◽  
Cleaning Robot ◽  
New Development ◽  
Development Area

Nowadays, intelligent cleaning robot is widely used in housecleaning, hotel and office for cleaning in a half--automatic way or full--automatic way. In recent years, the development of cleaning robot has brought increasing attention in overseas and domestic, and it has become a new development area in the field of service robots. This paper designs an intelligent cleaning robot, which could realize move freely under the control of obstacle avoidance strategies based on the fuzzy logic. According to the information of obstacles from the sensor system, the obstacle avoidance system is built by the fuzzy control method to make the cleaning robot avoid the obstacles autonomously.

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