This paper describes a Fuzzy Logic controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any e...
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ISBN:
(纸本)9789608457720
This paper describes a Fuzzy Logic controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobilerobot is found to be able to react to the environment appropriately during its navigation to avoid crashing with obstacles by turning to the proper angle while moving. The Fuzzy Logic algorithm has proven a commendable solution in dealing with certain control problems when the situation is ambiguous. One of the main difficulties faced by conventional control systems is the inability to operate in a condition with incomplete and imprecise information. As the complexity of a situation increases, a traditional mathematical model will be difficult if not impossible to implement. Fuzzy Logic is a tool for modeling uncertain systems by facilitating common sense reasoning in decision-making in the absence of complete and precise information. In this paper, the controller of an autonomous mobilerobot is designed based on the theories of Fuzzy algorithm. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB platform with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes for hardware implementation. Comparison results between MATLAB and VHDL of MRC algorithm also have presented. Then the VHDL codes are synthesized to get MRC hardware blocks using synthesis tool, Quartus II from Altera environment. Finally the designed codes of MRC algorithm has been downloaded into FPGA board for verifying the functionality of algorithm for VLSI implementation.
This paper describes a Fuzzy Logic controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any e...
详细信息
ISBN:
(纸本)9780780397309
This paper describes a Fuzzy Logic controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobilerobot is found to be able to react to the environment appropriately during its navigation to avoid crashing with obstacles by turning to the proper angle while moving. The Fuzzy Logic algorithm has proven a commendable solution in dealing with certain control problems when the situation is ambiguous. One of the main difficulties faced by conventional control systems is the inability to operate in a condition with incomplete and imprecise information. As the complexity of a situation increases, a traditional mathematical model will be difficult if not impossible to implement. Fuzzy Logic is a tool for modeling uncertain systems by facilitating common sense reasoning in decision-making in the absence of complete and precise information. In this paper, the controller of an autonomous mobilerobot is designed based on the theories of Fuzzy Logic. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB session with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes;for hardware implementation. Comparison results between MATLAB and VHDL of MRC algorithm also presented. Then the VHDL codes are synthesized using synthesis tool, known as Quartus II. Finally the MRC hardware blocks for VLSI design have been carried out.
This paper presents a comparative study of different wireless technology usage for mobile robot controller such as Bluetooth,WiFi or Wireless LAN and *** literature review,particularly discuss the flow of the applicat...
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This paper presents a comparative study of different wireless technology usage for mobile robot controller such as Bluetooth,WiFi or Wireless LAN and *** literature review,particularly discuss the flow of the application and transferring data or information to the mobile *** of the frequency,data rate and range for each wireless technology used in this application are *** advantage and disadvantage of each wireless technology are *** the end,selection of wireless technologies depends on the type of application to be developed considering the following;range,frequency and data rate.
Designing a robotcontroller that can optimally manage limited resources in a deterministic, real-time manner can be challenging. Behavior-based architectures, which split autonomy into levels, are very popular but ne...
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ISBN:
(纸本)9781424466757
Designing a robotcontroller that can optimally manage limited resources in a deterministic, real-time manner can be challenging. Behavior-based architectures, which split autonomy into levels, are very popular but neither have real-time features that enforce timing constraints nor support determinism. Even though real-time features are not included, it seems like a natural fit to make each level in the behavior-based architecture its own task or process. The only that thing that it lacks are the timing features. This has already been implemented using Suns Java Real-Time System. It has also been shown that timing constraints effect performance. This brings us to the question;why not use the more traditional language of C or C++ to implement this behavior-based real-time architecture? Are we not taught that Java is useful but slow compared to C and C++? If so why not use C++ and the features of Open robot Control Software (OROCOS) to implement the architecture. This paper answers the question of does it really matter what language is used in a behavior-based real-time architecture. We implemented the architecture using OROCOS/C++ running on UBUNTU. Then compared our implementation to two other implementations of the architecture: Java/Player on Fedora;and Suns Java Real-Time System (RTS) on Solaris. Results, from experiments on a robot, show that our OROCOS/C++ implementation performed similarly to the Java RTS implementation. Both the OROCOS and Java RTS implementations performed better than the Player/Java implementation. This suggests that Java is in fact feasible for a behavior-based real-time robot architecture but it needs to be run using Java RTS not the regular version.
The developed tracked mobilerobot such as flipper track robot increases its ability and capability in overcoming more challenges in urban environment context and rough terrains. In addition, flippers are its support ...
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ISBN:
(纸本)9781728130446
The developed tracked mobilerobot such as flipper track robot increases its ability and capability in overcoming more challenges in urban environment context and rough terrains. In addition, flippers are its support in dealing with this circumstances. The configuration of flipper tracked robots came from the extended version of conventional two-tracked mobilerobot such as two and four-tracked robots. Then, the study aims to create a dedicated controller for the modified flipper track robot. Correspondingly, the target instruments, display and analog control are identified for adept monitoring of the robot status while doing its intended function. Afterwards, using Proteus 8 Professional simulation software, the Arduino UNO controller as main MCU, 16x2 LCD, analog joysticks in terms of analog resistors, and virtual terminal for serial print monitoring are attached and wired accurately. The nine speed level is established and paralleled to the required PWM output for the fine movement of flipper track robot and also the map function of Arduino IDE for degree manipulation of servo motor of two flipper arms. Finally, the results are shown in LCD which matches the established logical conditions of nine speed level as well as the status movement of the flipper track robot. The functionality and feasibility of the controller is verified and exhibited.
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