This document summarizes a research paper that designed and implemented an RFID line-follower robot system with color detection capabilities using fuzzy logic. The system allows a robot to follow multiple colored tracks by using LED lights to detect color with an LDR sensor. RFID tags provide input to determine which color track to take. A microcontroller integrates the sensor readings and uses a fuzzy logic inference system and rule base to generate motor control signals. The system was tested for color track detection, response to brightness and reflectiveness, and for selecting tracks based on RFID input. Limitations and suggestions for improvement are also discussed.

1. Design and Implementation of
RFID Line-Follower Robot System
with Color Detection Capability
using Fuzzy Logic
Presented by
Akhil K J
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2. About the paper
•Title
Design and Implementation of RFID Line-
Follower Robot System with Color Detection
Capability using Fuzzy Logic
•Authors
M B. Nugraha [Telkom University Bandung, Indonesia]
Rizki Ardianto P [Telkom University Bandung, Indonesia]
Denny Darlis [Telkom University Bandung, Indonesia]
Year: 2015
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3. Introduction:-
•Industrial mobilization and
transportation system (forklift)
•AGV (Automated Guided Vehicle)
•Line- follower robot.
• LED and LDR- based color sensor (Fuzzy
Logic)
• RFID-based identification/authorization
system
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4. Industrial mobilization and
transportation system
Limitation
•Manually operated
• Time,
• precision and
• operator/user authorization
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5. AGV (Automated
Guided Vehicle)
• Automatically guided from one point to another
in industries
• Used for the mobilization of raw materials and
products.
• Only moves through pre defined paths.
E.g. Line follower robot
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6. Working of AGV in industries
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7. Line follower robot
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• Flows a track of dark line.
• Light sensor is used to detect the path.
• Used in industry as AGV
• It can only pass through the single line.
• Simple in construction and accurate
tracking can obtain.

8. Line follower with multiple track
• The line-follower robot system
that is able to recognize some
kind of color, in this case the
basic colors Red, Green and
Blue (RGB) as the system
guidance.
• RFID as inputs to determine
which track to be selected.
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9. LED produces colored light
colored objects illuminated
with light in same color, will
reflect more light intensity than
if it is illuminated with other
color.
LDR sense the reflected light
from the track
RGB Color Detection And
Color Sensor Design
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10. • Used as the initial input system
• Each card can only activate the system for
only one route.
• This is done to limit the authority of the user.
• RFID tags will send its ID information when it
gets electromagnetic signals from a
compatible device, RFID reader.
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RFID Identification
System

11. Fuzzy Logic Simulation
• Process the LDR-based sensor output value
(voltage),
• Certain input system will produce output as
expected from the formation of fuzzy rule.
• The system uses inputs from sensors and generates
motor control that makes the robot can move
according to the guide lines
Table : Sensor Response for Each Color
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12. System Integration
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Sensor
LED
RIFID reader
Motor driver
Microcontroller

13. Test on system
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• RFID System
• Color Sensor System
• Robot Drive System
• System Response of Color Track
Brightness and Reflectiveness

14. RFID System
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15. Color Sensor System
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16. Robot Drive System
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17. System Response of Color
Track Brightness and Reflectiveness
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18. Limitations in this concept
1. It only discuss with tracks of three coloures.
2. Branching of the tracks are not explained
3. Description and testing of only prototype is
given.
4. The program or the logic loaded in the
microcontroller is not given.
5. Obstacle avoiding facility is not included.
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19. Suggestions to improve this idea
• Include obstacle avoiding facility
• Use track with secondary colours
• Include object detection capability
• Include ANN technology
• Branching
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20. CONCLUSION
The system is designed for the mobilization in
industries.(AGV)
It increase the utilization by increasing the number of
tracks.
The tracks are selected by an external input (RFID)
Tracks are detected by coloured light and LDR
assembly
The system consist of sensors, motor driver, RFID
reader and microcontroller.
 Tests on the system for controlling parameter and
physical conditions
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21. FUZZY SETS
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Three fuzzy sets for input and one fuzzy set for
output using triangular membership function
are created

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Sugeno-type Fuzzy Interference was chosen for the
process of formulating the mapping from the given
inputs to the output.
For defuzzification process, all consequent
membership functions are represented by singleton
spikes.
The weighted average (WA) of these singletons is
used to get the crisp output. The equation

23. RULES
RULE
IF RED
IS
AND GREEN
IS
AND BLUE
IS
THEN OUTPUT IS
1 Low Low Medium Blue
2 Low Low High Blue
3 Low Medium High Blue
4 Medium Low High Blue
5 Low Medium Low Green
6 Low High Low Green
7 Low High Medium Green
8 Medium High Low Green
9 Medium Low Low Red
10 High Low Low Red
11 High Medium Low Red
12 High Low Medium Red
13 Medium Medium High Blue
14 Medium High Medium Green
15 High Medium Medium Red
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Figure 5.1: A Fuzzy Logic System.
PC with MATLAB
software
Microcontroller Colour Sensor
readingoutput
Serial
Comm
Figure 5.1.1. Colour Sensor-MATLAB setup.
A fuzzy logic system (FLS) can be defined as the nonlinear
mapping of an input data set to a scalar output data. A FLS
consists of four main parts: fuzzifier, rules, inference engine,
and defuzzifier. These components and the general architecture
of a FLS is shown

25. THANKYOU
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