Fuzzy based Intelligent Navigation for Robots with Trajectory Control

Srinivasan, C R and Shinde, Sumit and Srividya, R (2018) Fuzzy based Intelligent Navigation for Robots with Trajectory Control. Journal of Advanced Research in Dynamical and Control Systems, 10 (6). pp. 10-18. ISSN 1943023X

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The nature of any human being is to do anything that reduces human effort. Starting from building the wheel to automated factories, all these are built to reduce human intervention. Automation, is the use of various control systems for operating equipment’s to minimize or reduce human intervention. The biggest benefit of automation is that it saves labor, and improves quality, accuracy and precision. Our project is designing of an autonomous bot that avoids obstacles in its path automatically. Detection of cliffs, object orientation, gyroscope control and open loop path following so that the robot itself goes from one point to another in a path specified by the user. The methodology adopted for object avoidance works on the time of flight principle in an ultrasonic sensor. The output of this is sent to the microcontroller that calculates the distance between the bot and the obstacle. Fuzzy control was also introduced for a smoother and better avoidance program. Gyroscopes detect any elevation and depression in the path . An open loop program was developed so that the bot follows particular path as coded by the user. Also object oriented motor control was developed to maintain the motor pointing towards a particular vicinity by controlling the PWM of the motor. The result of the project is that the robot which is supported by three wheels, with two individual motors controlled by an integrated circuit connected to Arduino manipulating the speeds of these motors and a wheel without a motor in order to get around goes around a particular pre-defined path. Also, it avoids any obstacle which comes in its way by using various sensors and modes of programming. A better avoidance program was developed by using fuzzy logic that has more accurate results than a normal avoidance program. Significance of the project is that we have successfully trained the robot to avoid any obstacle without human intervention. Thus we concluded that fuzzy system has a better and precise control than a normal system. The prototype developed could also be further improved into human following and object avoidance program that can be mounted on luggage systems. This idea can help in development of many other systems that can deliver, follow, avoid, and travel in a automated way without any human intervention.

Item Type: Article
Uncontrolled Keywords: Current mode device; Differential current conveyor; Square wave generator.
Subjects: Engineering > MIT Manipal > Electrical and Electronics
Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 09 Oct 2018 06:53
Last Modified: 09 Oct 2018 06:53
URI: http://eprints.manipal.edu/id/eprint/152108

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