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

被引：2
|
作者：
Meza Solano, Dionicio [1 ]
Eusebio Grande, Raul [1 ]
Ibarra Bonilla, Mariana N. [1 ]
机构：
[1] Inst Tecnol Super Atlixco, Mechatron Engn Div, Puebla, Mexico
来源：
2021 18TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE 2021) | 2021年
关键词：
Terms-fuzzy; PID; mobile differential robot; obstacle avoidance;
D O I：
10.1109/CCE53527.2021.9633079
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
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.
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页数：6
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