Fuzzy Logic Controller to control the position of a mobile robot that follows a track on the floor

摘要

In this paper presents satisfactory preliminary results to use a simple mathematical analysis is proposed to convert the fuzzy range into a real actual range of velocity. The robot main controller is a single microcontroller that controls all the functionality of the robot. A fuzzy logical framework is used to control the angular momentum of left and right wheels. The fuzzy rules works on one variable that is LED position through the use of 6 sensors placed on the front of the robot to give the greatest amount of flexibility when turning and avoiding obstacles. The rules are based on connection the fuzzy variables with the operator “and”. As a conclusion, one photoelectric switch get activated lets the wheel of the opposite side get raised in the speed. The raise of speed depends on the location of the photoelectric switch; an edge located photoelectric switch causes a maximum raise of speed on the opposite wheel. This study objectives to present and analyze what is known as control system engineering through the implementation of fuzzy logic, down to achieving the following points like, introduce a problem that requires the implementation a fuzzy logic controller, demonstrate theoretically the behavior plus response under fuzzy logic control and prove the efficiency of fuzzy logic controller. The results in this study showed a high positive and that the proposed solution is able to drive the robot inside curved paths with high efficiency, maneuver freely at different speeds and avoid obstacles without any collision.