Development of a cascade pid fuzzy logic controller for wall following mobile robot
Loading...
Date
2015-06-01
Authors
Koo Yeong Chin
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
This study presents an indoor self-developed differential wheeled mobile robot (WMR) system in encountering the maze solving problem. The maze problem is assumed as a simplification of the environment for the WMRs to be applied as a real-life automated guide vehicles application, such as a transporting vehicle in a factory. Nowadays, there are many controllers and algorithms being proposed for the issue of navigation control. However, there is no unified and perfect architecture in this issue. The movement of a WMR is provided by the motors, however, it is hard to control and predict the motors’ speed. The study focuses on the development of cascade Proportional, Integration, and Derivation (PID) controller to control the motors’ speed and Fuzzy Logic (FL) as the decision making algorithm in wall-following. The inputs of the WMR are readings from ultrasonic range finders and rotary encoders. The central processing unit of the WMR is an Arduino Mega 2560. The statistical analysis, single factor analysis of variance on the range finders proved that all of the sensors will provide the same and consistent readings if they are sensing at the same distance and same direction. The step counts from the motors’ rotary encoders are the actual inputs for the cascade PID controllers, while the desired inputs for the controllers are the desired step counts. The results show that the cascade PID controllers promise a good performance with 1.1% of error in controlling the motors to reach the desired speed. After the readings from the range finders are recorded, they are processed by the FL to decide where the direction of the WMR should be heading to and then the speed of both left and right motor are also determined accordingly. Through the results illustrated, it can be concluded that the FL is working fine in controlling the
movements of the WMR with repeated success. In conclusion, the system presented in this thesis promises a success in differential WMR control system in wall-following and it can be improved and further developed to be applied in other real-life application.