The Autonomous Performance Improvement of Mobile Robot using Type-2 Fuzzy Self-Tuning PID Controller

摘要

Autonomous driving of mobile robot is important in various working environment. For its autonomous driving, mobile robot utilized ultrasonic sensor to detect obstacles and avoid them. Also, there has been researched on supplementing function of avoiding crash by using control methods based on adoption of intellectual system. This research has designed type-2 fuzzy self- tuning PID controller which can enhance autonomous driving function of mobile robot under fixed obstacle environment. The fuzzy controller has utilized type-2 with multiple values and the fuzzy self-tuning PID controller adjusting gain value of PID controller is applied. In terms of function of type-2 fuzzy controller with 5 rules, it was confirmed through improvement in function of autonomous driving of mobile robot using Matlab/Simulink.