PID Control and Fuzzy Logic System to the Obstacle Avoidance in an Autonomous Robot

摘要

This paper describes an obstacle avoidance system to a mobile differential robot integrated with 9 infrared sensors, 7 for the detection of obstacles and 2 for the detection of the limit of the environment where the robot will move. A system based on fuzzy logic translates the values read from infrared sensors and adjusts them to position values in degrees. To executing the robot movements with a minimal overshoot was implemented a digital PID control, which allows conduct the robot to the reference degree that the fuzzy system returns. The control system was programmed in the ARM Cortex-M4 STM32F407 microcontroller, using Micropython-OS. The validation tests are described and the results analysis gives a standard deviation of the error of 0.33.