1. FUZZY LOGIC BASED WALL
FOLLOWING ROBOT
Submitted by:
Anshuman Setu
Richa Rashmi
Samrudh K
Setu Ashwin
Under the Guidance of:
RachanaCS
2. Introduction
To develop an autonomous robot capable of navigating around a room by
following a wall.
Inputs are proximity measurements from the wall.
Outputs are the speeds of the rear motor.
Using an embedded fuzzy logic controller to determine the response to the
inputs.
The fuzzy logic controller is programmed to handle real world uncertainties.
3. The Working.
The type of control we could use is open loop or a closed loop system.
Open loop would result in large errors, therefore we opted for a closed
loop system.
P (proportional) control, PI (proportional integral) control, and PID
(proportional integral derivative) control, fuzzy logic control was
selected as it was easiest to Implement for a highly nonlinear model.
Fuzzy logic gives the computer power to reason like a human.
PID control requires a lot of processing power and memory thus making
it more expensive.
Fuzzy logic achieves better results with less complexity.
4. Fuzzy Logic a Intro
“We must exploit our tolerance for imprecision”
-Lotfi
Zadeh
Deals with uncertainties that occur in real life.
Gives power to a computer to think and reason like a human.
Useful in non-linear control applications.
It exploits the tolerance to imprecision.
5. The working.
Fuzzy Inference System (FIS):
Fuzzifier
Inference
Engine
Knowledge
base
Defuzzifier
Crisp
Fuzzy Fuzzy
Crisp
7. Components to use
Hardware:
Servo Motor
Ultrasonic sensors
Microprocessor (ATMEGA32)
Software:
MATLAB
Simulink
8. Ultrasonic Sensors
Devantech SRF04 ultrasonic range finder,
gives an accurate measurement from 3cm to
3m.
The transmitter works by transmitting a pulse
of sound outside the range of human hearing
at 40 KHz.
This pulse travel at the speed of sound away from
the ranger in a cone shape and the sound reflects back to the ranger
from any object in the path of sonic wave.The ranger pauses for a
brief interval after the sound is transmitted and then awaits the
reflected sound in the form of an echo.
9. The Progress: Modeling and Simulation
Fuzzy logic controller
FIS System
Rules
Fuzzy Output
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16. Scope for improvement
Instead of wall followers we could make them corridor
followers.
Use of a faster microcontroller for faster response.
17. Applications.
Interoffice mail delivery
Exploration of buildings in disasters areas
Autonomous cars
Army of such robots to map indoor spaces.