Abstract
This paper presents the development of wall following and obstacle avoiding robot using a Fuzzy Logic Controller. The ultrasonic sensors are employed to measure the distances between robot and the wall, and between the robot and the obstacle. A low cost Raspberry Pi camera is employed to measure the left/right distance between the robot and the obstacle. The Fuzzy Logic Controller is employed to steer the mobile robot to follow the wall and avoid the obstacle according to the multi sensor inputs. The outputs of Fuzzy Logic Controller are the speeds of left motor and right motor. The experimental results show that the developed mobile robot could be controlled properly to follow the different wall positions and avoid the different obstacle positions with the high successful rate of 83.33%.
Highlights
Wall following and obstacle avoiding are the important tasks for the autonomous mobile robot
We develop the wall following and obstacle avoiding mobile robot using the sensor fusion consisted of the ultrasonic sensors and a camera
The navigation is defined as success when the robot does not touch the wall during the wall following or does not touch the obstacle during the obstacle avoiding
Summary
Wall following and obstacle avoiding are the important tasks for the autonomous mobile robot. In [3], five ultrasonic sensors were employed to detect the distance of mobile robot from the wall in front, left, and right direction. The type-2 FLC was adopted to steer the mobile robot in the right wall following method. In [9], the FLC with eight inputs and five outputs was employed to control the movement of a robot in the environment with the cluttered obstacle objects. They developed 256 fuzzy rules to process the information from 8 infrared sensors. We develop the wall following and obstacle avoiding mobile robot using the sensor fusion consisted of the ultrasonic sensors and a camera.
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