Design and Low Cost Implementation of a Fuzzy Logic Controller for Wall Following Behavior of a Mobile Robot

摘要：

This paper describes the design of a fuzzy logic based intelligent controller for wall following behavior of a differentiaIJy steered mobile robot. The distance of robot from the wall and its orientation with respect to the wall is read with the help of three ultrasonic sensors mounted on left side of robot. The measured sensor values are fed to fuzzy logic controller that generates motor commands for the robot to follow wall on its left side at a set distance. The designed fuzzy logic controller is impjemented using a low cost single chip AT89C52 microcontroller and its performance is evaluated for different wall trajectories. Experimental results are presented to show the validity of designed controller for wall following behavior of a mobile robot.

关键词： wall following fuzzy logic controller ultrasonic sensors AT89C52 microcontroller

作者: Umar Farooq Aisha Khalid Muhammad Amar Aleena Habiba Shareen Shafique Rabia Noor

作者单位: Department of Electrical Engineering,University of The Punjab Lahore-54590 Pakistan Department of Physics,University of The Punjab Lahore-54590 Pakistan

会议类型: 国际会议

会议名称: 2010 2nd International Conference on Signal Processing System(2010年信号处理系统国际会议 ICSPS 2010)

会议地点: 大连

会议语种:英文

页码: 1580-1586

在线出版日期: 2010-07-05（万方平台首次上网日期，不代表论文的发表时间）