文章基本信息

标题：Intelligent Obstacle Avoidance Controller for QBot2
本地全文：下载
作者：Muhammad Usman Asad ; Jason Gu ; Umar Farooq 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：1
页码：120-125
DOI：10.1016/j.ifacol.2022.04.020
语种：English
出版社：Elsevier
摘要：AbstractThis paper describes the design process and the steps involved in the implementation of a fuzzy logic-based controller for autonomous navigation of an educational robot called Qbot2. The differential-driven robot is equipped with three ultrasonic sensors (SRF-04) mounted on the front bumper and DC motors with built-in encoders and current sensors. The controller takes the inputs from three ultrasonic sensors and generates the speed commands to avoid any obstacle in its path. PCB is designed to process all the data from the sensors and direct the signal to the motors via motor driver circuits. The low-level implementation of the hurdle avoidance controller is implemented using an inexpensive Arduino UNO in real-time. The controller performance is validated through an experimental run. The designed platform can be used to implement various fuzzy inference systems in real-time and hence can be utilized as laboratory work for testing soft computing algorithms on mobile robotics.
关键词：KeywordsFuzzy LogicRobot sensing systemMobile robotTrajectoryMicrocontroller