Learn By Demonstration Control Algorithm For Cleaning Robot

Mohd Khaidzir, Nurzaikhanazira (2016) Learn By Demonstration Control Algorithm For Cleaning Robot. Project Report. UTeM, Melaka, Malaysia . (Submitted)

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Abstract

“Learn by Demonstration Control Algorithm for Cleaning Robot “is a new techniques that build upon many standard machine learning methods that have great success in a wide range of applications. This project which undertaken in purpose for revolving current issues problem especially in household chores due to majority of working parents are not able to looked their kids or children of their surrounding environment. This will make lacked in focusing the healthiness, therefore it can cause health problem in the society. Other than that, it would help to save their times which suitable of this robot purpose in the application. These robots consist of two control mechanism which is record mode and the other is a replay mode which is design based on the Learn by Demonstration behavior of cleaning robot. In this project, the objectives are to develop a new control Algorithm using a fuzzy logic controller for learns by demonstration cleaning robot and to analyze the performance of new control algorithm in term of path error. To achieve the objectives in this project, a Learn by demonstration control algorithm for cleaning robot is developed by used of fuzzy logic control system. In order to conduct analysis, fuzzy logic control algorithm is applied to the robot. An experiment such as position of x-axis and y-axis is calculated and the performances of graphs obtained are analyzed. The performance of curves position is still not achieving the desired due to several circumstance from the algorithm of fuzzy control system. All experimental results are justified with the proposed methodology. In summary, the huge differentiation between closed loop system and fuzzy control system can be defines in term of path error with angle of jerking can be minimized. Therefore, result shows the smooth motion can be found on real times after implement of fuzzy control system.

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