Wall Follower Autonomous Robot Development Applying Fuzzy Incremental Controller

摘要

This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled using fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to determine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guidance line and has good performance compare with PID controller.