The integration of fuzzy logic system for obstacle avoidance behaviour of mobile robot

Martin, Aerun (2017) The integration of fuzzy logic system for obstacle avoidance behaviour of mobile robot. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

A mobile robot is an automatic machine that has the capability of sensing its environment, understanding the sensed information to receive the knowledge of its location and surrounding environment, planning a real-time path from a starting position to goal position with obstacle avoidance, and controlling the robot steering angle and its speed to reach the target. Mobile robots are the ideal solution for the process of eliminating landmines which is an explosive device that usually planted under the ground to destroy or disable enemy targets once they have direct contact by applying right amount of pressure to trigger the landmine. Based on statistic report from Landmine & Cluster Munition Monitor about 3,678 people has been victim of landmines explosion around the world in year 2014. Eliminating the landmines using the mobile robots can improve the safety of personnel as well as the efficiency, productivity and flexibility of the work. In order to carry out such an important tasks mobile robot should be equipped with a robust controller to analyze the input and output that help the mobile robot to navigate in an uncertain environment without colliding with any obstacles. Fuzzy Logic Controllers is an intelligent technique that proves to be the one of the most reliable controller that suits well for nonlinear system like robot due to the simple control based on user input without any prior knowledge to the mathematical model. Thus, this project develops two controller of Fuzzy Logic System which are Mamdani and Sugeno controller by using an input from five proximity sensor of differential drive robot to control the linear velocity of left and right motor. The control focuses on linear velocity to avoid considering the kinematic model which will be required for control of angular velocity. The smoothness and efficiency the generated by Mamdani and Sugeno is analyzed based on simulation of Pioneer P3-DX robot in virtual robotic software for single and multirobot environments with static obstacles.

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