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.

引用

页数：6

共 50 条

[21] Fuzzy logic control for an autonomous robot
Peri, VM
Simon, D
[J]. NAFIPS 2005 - 2005 Annual Meeting of the North American Fuzzy Information Processing Society, 2005, : 337 - 342
[22] The Study Of Robot Obstacle Avoidance Based On Fuzzy Control
Li, Shixiong
Yuan, Qiang
[J]. Applied Decisions in Area of Mechanical Engineering and Industrial Manufacturing, 2014, 577 : 386 - 389
[23] Obstacle avoidance system with sonar sensing and fuzzy logic
Chiang, WC
Kelkar, N
Hall, EL
[J]. INTELLIGENT ROBOTS AND COMPUTER VISION XVI: ALGORITHMS, TECHNIQUES, ACTIVE VISION, AND MATERIALS HANDLING, 1997, 3208 : 111 - 117
[24] Neuro-fuzzy dynamic obstacle avoidance for autonomous robot manipulators
Mbede, JB
Ele, P
Xinhan, H
[J]. JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 2002, 45 (01) : 286 - 297
[25] Evolution of a P/N fuzzy obstacle avoidance controller for an autonomous robot
Lilly, JH
[J]. PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND APPLICATIONS (ICMLA'04), 2004, : 227 - 234
[26] Fuzzy System for Obstacle Detection and Avoidance for Mobile Robot
Andrade, Alexsandra Oliveira
Almeida Silva, Tharcio Thalles
Gomes, Iago Pacheco
Goncalves, Luiz Marcos G.
[J]. 2019 LATIN AMERICAN ROBOTICS SYMPOSIUM, 2019 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR) AND 2019 WORKSHOP ON ROBOTICS IN EDUCATION (LARS-SBR-WRE 2019), 2019, : 180 - 185
[27] Motion control for mobile robot obstacle avoidance and navigation: A fuzzy logic-based approach
Zavlangas, Panagiotis G.
Tzafestas, Spyros G.
[J]. Systems Analysis Modelling Simulation, 2003, 43 (12): : 1625 - 1637
[28] Speed control of an autonomous mobile robot - Comparison between a PID control and a control using fuzzy logic
Silveira, P.E.
De Souza Jr., R.
Biazotto, V.M.
[J]. Revista Brasileira de Ciencias Mecanicas/Journal of the Brazilian Society of Mechanical Sciences, 2002, 24 (02): : 127 - 129
[29] Fuzzy Logic Analysis of Photovoltaic Data for Obstacle Avoidance or Mapping Robot
Adrian, L. R.
Ribickis, L.
[J]. ELEKTRONIKA IR ELEKTROTECHNIKA, 2013, 19 (01) : 3 - 6
[30] Fuzzy Logic Control of an Autonomous Mobile Robot
El-Teleity, Sawsan Abdel-Latif
Mansour, Hala M. Abdel-Kader
Nossair, Zaky B.
TagElDein, Adly
[J]. 2011 16TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS, 2011, : 188 - 193

← 1 2 3 4 5 →