Abstract
In this work, the application of fuzzy hardware control to the dynamic movement of an autonomous two-wheeled mobile robot under uncertainty is considered the most relevant topic of the day. There are also adverse reactions. These led to an imprecise mathematical model for the two-wheeled robotic test rig. Therefore, the goal of developing a control system for a two-wheeled robot with a fuzzy logic control algorithm was set. The development of fuzzy logic control systems according to modern applications is very important to create intelligent robots that can be used in wider applications. In this work, a fuzzy control model for a non-linear two-wheeled robot system is designed, followed by a real-time implementation of the developed control in a robot device. Finally, the experimental results of the system were analyzed and discussed, and the closed-loop response of the fuzzy logic two-wheeled robot system with PID control was tested. The fuzzy control has a better response than the PID controller. A similar effect was observed for the normalized speed of the motors, as less energy was required to balance and stabilize the two-wheeled robot with fuzzy control. One of the main advantages of the method proposed in the article is to enable the autonomous two-wheeled mobile robot to operate without collision with obstacles and with high dynamic accuracy in a low-obstacle environment. As a result of the simulation, the effectiveness and reliability of the change avoidance behavior in uncertain environments and the speed control of the two-wheeled mobile robot platform of the proposed fuzzy control strategy are realized.
Published Version
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