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The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot

A mobile robot has a capability of sensing its location under uncertain environment, planning a real-time path as well as controlling its steering angle and speed to reach the target location. A robust controller is embedded in mobile robot whilst analyzing the input and output that help it to navi...

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Main Authors: Anwar Apandi, Nur Ilyana, Martin, Aerun
Format: Article
Language:English
Published: Penerbit Universiti, UTeM 2019
Online Access:http://eprints.utem.edu.my/id/eprint/24223/2/4540-14088-1-PB%20%281%29.PDF
http://eprints.utem.edu.my/id/eprint/24223/
https://journal.utem.edu.my/index.php/ijeeas/article/view/4540/pdf_14
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spelling my.utem.eprints.242232020-08-13T11:49:30Z http://eprints.utem.edu.my/id/eprint/24223/ The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot Anwar Apandi, Nur Ilyana Martin, Aerun A mobile robot has a capability of sensing its location under uncertain environment, planning a real-time path as well as controlling its steering angle and speed to reach the target location. A robust controller is embedded in mobile robot whilst analyzing the input and output that help it to navigate without colliding with any obstacles. Meanwhile, Fuzzy Logic Controllers (FLC) is an intelligent technique that proves to be the one of the most reliable controllers that suits well for nonlinear system like robot due to the simple control based on user input without any prior knowledge to the mathematical model. In this paper, the Mamdani and Sugeno FLC are developed for a mobile robot. The smoothness and efficiency that generated from these FLC is analyzed based on simulation of Pioneer P3-DX robot in virtual robotic software for single and multirobot environments under static obstacles environment. Simulation results for the Pioneer P3-DX robot shows the Sugeno FLC able to produce smoother path and reach the goal faster than Mamdani FLC. Penerbit Universiti, UTeM 2019-04 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/24223/2/4540-14088-1-PB%20%281%29.PDF Anwar Apandi, Nur Ilyana and Martin, Aerun (2019) The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot. International Journal Of Electrical Engineering And Applied Sciences (IJEEAS), 2 (1). pp. 31-37. ISSN 2600-7495 https://journal.utem.edu.my/index.php/ijeeas/article/view/4540/pdf_14
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
description A mobile robot has a capability of sensing its location under uncertain environment, planning a real-time path as well as controlling its steering angle and speed to reach the target location. A robust controller is embedded in mobile robot whilst analyzing the input and output that help it to navigate without colliding with any obstacles. Meanwhile, Fuzzy Logic Controllers (FLC) is an intelligent technique that proves to be the one of the most reliable controllers that suits well for nonlinear system like robot due to the simple control based on user input without any prior knowledge to the mathematical model. In this paper, the Mamdani and Sugeno FLC are developed for a mobile robot. The smoothness and efficiency that generated from these FLC is analyzed based on simulation of Pioneer P3-DX robot in virtual robotic software for single and multirobot environments under static obstacles environment. Simulation results for the Pioneer P3-DX robot shows the Sugeno FLC able to produce smoother path and reach the goal faster than Mamdani FLC.
format Article
author Anwar Apandi, Nur Ilyana
Martin, Aerun
spellingShingle Anwar Apandi, Nur Ilyana
Martin, Aerun
The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot
author_facet Anwar Apandi, Nur Ilyana
Martin, Aerun
author_sort Anwar Apandi, Nur Ilyana
title The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot
title_short The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot
title_full The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot
title_fullStr The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot
title_full_unstemmed The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot
title_sort integration of fuzzy logic system for obstacle avoidance behavior of mobile robot
publisher Penerbit Universiti, UTeM
publishDate 2019
url http://eprints.utem.edu.my/id/eprint/24223/2/4540-14088-1-PB%20%281%29.PDF
http://eprints.utem.edu.my/id/eprint/24223/
https://journal.utem.edu.my/index.php/ijeeas/article/view/4540/pdf_14
_version_ 1677784672686309376
score 13.211869

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