Direction Control System on a Carrier Robot Using Fuzzy Logic Controller

Abstract

In an autonomous mobile robot system the ability to control the robot manually is needed. For that reason a mechatronics system and control algorithm on carrier robot are designed and realized using Fuzzy Logic Controller. The carrier robot system which is designed consists of the robot mechatronics unit and the control center unit. The commands which are sent from the control center unit via local network received by the embedded system. These commands are forwarded to the microcontroller and translated into carrier robot’s maneuver. An error correction algorithms using fuzzy logic controller is applied to regulate the actuator’s speed. This fuzzy logic controller algorithm is implemented on embedded system which has a limitation on computational resources. The fuzzy controller gets its input from a rotary encoder and a magnetometer installed on the robot. The fuzzy logic controller algorithm using direction error protection has been able to detect and correct the direction error which the error value exceeds the predetermined threshold value (± 3 ° and ± 15 °). The carrier robot system has been able to run straight as far as 15 m with average deviation value of 22.2 cm. This fuzzy logic controller algorithm is able to give the response in the form of speed compensation value to maintain the direction of the carrier robot.