A Implementation of Fuzzy Logic in E-Puck Wall Following Robot Control
Implementation of the Mamdani Method on a Fuzzy Logic Controller for e-puck Robot Navigation Following a Wall
DOI:
https://doi.org/10.32486/jeecae.v9i1.708Keywords:
Fuzzy Logic Controller (FLC), Mamdani Method, Ultrasonic Sensor, E-Puck Robot, Wall Following Navigation, Sensor PS5, Sensor PS6, Sensor P7, Motor Control, Membership FunctionAbstract
This research discusses the implementation of a Fuzzy Logic Controller (FLC) on an e-puck robot for wall following navigation. The goal is to develop an efficient and adaptive control system for robot navigation in complex environments. The method used includes designing an FLC with three inputs from ultrasonic sensors (ps5, ps6, ps7) and two outputs to control the left and right motor speeds. The fuzzy inference system uses the Mamdani method with a fuzzification process, inference based on rule base, and defuzzification using Mean of Maximal (MOM). Tests were carried out in a maze arena to evaluate the robot's performance in following walls. The results show that the FLC implementation succeeded in controlling the movement of the e-puck robot well, as indicated by a decrease in sensor reading error and motor speed stability over time. Analysis of GPS coordinate graphs also shows the robot's ability to navigate complex environments. In conclusion, the fuzzy logic approach is proven to be effective in handling uncertainty and providing adaptive control for wall following tasks in e-puck robots.
References
S. K. Pradhan, D. R. Parhi, and A. K. Panda, "Fuzzy logic techniques for navigation of several mobile robots," Appl. Soft Comput., vol. 43, pp. 327–342, 2016, doi: 10.1016/j.asoc.2016.02.030.
M. Oubbati, M. Lakhdar, R. Errouissi, and A. El-Hami, "A new hybrid fuzzy–PID controller for tracking application of mobile robot," Robotica, vol. 37, no. 9, pp. 1627–1644, 2019, doi: 10.1017/S0263574718001294.
N. A. Wahab, R. A. Rahman, and S. I. Ismail, "Application of fuzzy logic controllers to wall-following autonomous mobile robot," Int. J. Electr. Comput. Eng., vol. 6, no. 6, pp. 2898–2907, 2016, doi: 10.11591/ijece.v6i6.12143.
J. Guo, R. J. Lian, and Y. Ren, "Adaptive fuzzy sliding mode control for robot manipulator with unknown disturbance," IEEE Trans. Ind. Electron., vol. 65, no. 3, pp. 2665–2674, 2017, doi: 10.1109/TIE.2017.2733478.
J. Luo, Q. Li, and J. Xiao, "Fuzzy logic control for autonomous navigation of mobile robot in unknown environments," Int. J. Control Autom., vol. 11, no. 7, pp. 1–16, 2018, doi: 10.33832/ijca.2018.11.7.01.
R. T. Jantara Jr and A. M. Zalzala, "Latest techniques in inductive fuzzy models for industrial applications," Annu. Rev. Control, vol. 39, pp. 47–58, 2015, doi: 10.1016/j.arcontrol.2015.03.011.
L. A. Zadeh, "Fuzzy sets," Inf. Control, vol. 8, no. 3, pp. 338–353, 1965, doi: 10.1016/S0019-9958(65)90241-X.
F. Mondada et al., "The e-puck, a robot designed for education in engineering," in Proc. 9th Conf. Auton. Robot Syst. Compet., 2009, vol. 1, no. CONF, pp. 59–65.
V. Braitenberg, Vehicles: Experiments in synthetic psychology. MIT Press, 1986.
W. L. Xu, S. K. Tso, and Y. H. Fung, "Fuzzy reactive control of a mobile robot incorporating the motion trend of a moving target," IEEE Trans. Syst. Man, Cybern. Part B, vol. 28, no. 2, pp. 262–268, 1998, doi: 10.1109/3477.662768.
N. A. Wahab, R. A. Rahman, and S. I. Ismail, "Application of fuzzy logic controllers to wall-following autonomous mobile robot," Int. J. Electr. Comput. Eng., vol. 6, no. 6, pp. 2898–2907, 2016, doi: 10.11591/ijece.v6i6.12143.
S. K. Pradhan, D. R. Parhi, and A. K. Panda, "Fuzzy logic techniques for navigation of several mobile robots," Appl. Soft Comput., vol. 43, pp. 327–342, 2016, doi: 10.1016/j.asoc.2016.02.030.
M. Oubbati, M. Lakhdar, R. Errouissi, and A. El-Hami, "A new hybrid fuzzy–PID controller for tracking application of mobile robot," Robotica, vol. 37, no. 9, pp. 1627–1644, 2019, doi: 10.1017/S0263574718001294.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2024 JEECAE (Journal of Electrical, Electronics, Control, and Automotive Engineering)
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
