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Fuzzy Logic Based Mobile Robot Navigation
Hurdle Avoidance, Wall Following and Path Tracking Behaviours
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Artikel-Nr:
9783848492701
Einband:
.
Seiten:
112
Autor:
Umar Farooq
Format:
220x176x33 mm
Sprache:
Englisch
Beschreibung:
Umar Farooq did his B.Sc. and M.Sc. both in Electrical Engineering from UET Lahore in 2004 and 2011 respectively. He is currently with the Department of Electrical Engineering, University of The Punjab Lahore. His research interests include the application of intelligent techniques to problems in Control Engineering, Robotics and Power Electronics.
Design and implementation of fuzzy logic controller for mobile robot navigation in unknown environments is presented. The task of navigation is divided into three behaviors namely hurdle avoidance, wall following and goal seeking. The outputs from these behaviors are combined to generate collision free motion of robot amongst obstacles in reaching the target. The controllers for these behaviors are designed using Fuzzy Logic toolbox of MATLAB® and their implementation is realized with readily available and inexpensive AT89C52 microcontrollers. Finally, the robot with these controllers is tested in indoor environments containing obstacles with changing destination places and is found to reach the set targets successfully which shows the validity of the designed controllers in achieving the required task.