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Published in:
2015 | OriginalPaper | Chapter
Path Planning and Control of Autonomous Robotic Agent Using Mamdani Based Fuzzy Logic Controller and ARDUINO UNO Micro Controller
Authors : Pratap Kumar Panigrahi, Sampa Sahoo
Published in: Proceedings of the 3rd International Conference on Frontiers of Intelligent Computing: Theory and Applications (FICTA) 2014
Publisher: Springer International Publishing
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The autonomous mobile robots are used for various purposes like materials transportation, nuclear and military environments etc. In this paper fuzzy logic technique is used for controlling the mobile robot in an unknown environment. The main goal of robot is to reach the target point from a starting point with avoiding obstacles in the way. The Mamdani fuzzy logic controller is used to obtain collision free path where inputs are front obstacle distance (FOD), left obstacle distance (LOD), right obstacle distance (ROD), heading angle (HA) and the output corresponds to the steering angle (SA) of the mobile robot. The effectiveness of the controller is verified using Mamdani fuzzy inference system.