Obstacle Avoidance In Indoor Environment Using Sensor Fusion For Mobile Robot

Zulkiflee, Syaza Nasuha (2017) Obstacle Avoidance In Indoor Environment Using Sensor Fusion For Mobile Robot. Technical Report. UTeM, Melaka. (Submitted)

Text Obstacle Avoidance In Indoor Environment Using Sensor Fusion For Mobile Robot - Syaza Nasuha Zulkiflee - 24 pages.pdf - Submitted Version Download (377kB)

Abstract

Obstacle avoidance for mobile robot is one of the important ability to detect the presence of obstacle. Each of them are equipped with sensor such as ultrasonic sensor used to observe the surrounding environment. However to avoid the obstacle well, the distance between obstacle detected and sensor need to be measured considering the range of detection for each sensor. Furthermore, the position of the sensor on robot also influence the accuracy of obstacle detection. Three ultrasonic sensors are used to detect the obstacle in this research. The fuzzy rules incorporating Mamdani technique is implemented with three inputs which are the three ultrasonic sensors and two outputs which are left and right DC motor of the mobile robot’s wheels which developed 27 fuzzy rules for controlling the robot’s movement. The proposed methodology, which includes the obstacle avoidance based on fuzzy logic fusion, has been implemented and tested in real time experiments. Six situations have been presented using static obstacles and mobile robot while the robot is avoiding obstacles in different sizes. The success rate of avoiding static obstacles in all situations is at least 85%. The obstacle avoidance module is the most successful (with 100% success rate) when obstacle is at the left side of the robot and when obstacles are in front of the robot with small distance apart.

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