Implementation of Fuzzy Controller for Mobile Robot Navigation on NI’s Embedded- FPGA Robotic Platform

Yıl 2019, Cilt: 4 Sayı: 2, 80 - 87, 01.12.2019

Mahmut Dirik Adnan Fatih Kocamaz Emrah Donmez

Öz

Autonomous mobile
robots in the field of modern automation technology have gained interest in the
last decades. A navigation system of an autonomous mobile robot in a cluttered
(with static or dynamic obstacle) environment is one of the interest areas.
This paper presents Fuzzy logic controller based obstacle avoidance approach
for National Instruments (NI)’s embedded robotic platform which to host the
SBRIO (Single-board Reconfigurable Input-Output) that includes a powerful
real-time controller, and a field programmable gate array (FPGA). The robot
platform used here has an ultrasonic sensor located at the front of the robot
and rotatable from -65 to 65 degrees. To construct the proposed system, it has
used twelve (12) sensors information as input parameters. The design and
software were implemented using LabVIEW modules. In order to provide better
insight into the experiment’s objectives, the proposed methods compared with
the VFH algorithm. The experimental results verified in simulation modes which
are simplicity and quicker reacting to sudden changes in sharp-edged shapes. It
is cleared that the fuzzy logic approach was successfully applied to the DaNI
mobile robot to navigate in the safest direction.   

Anahtar Kelimeler

Mobile Robot, Obstacle Avoidance, DaNI, LabVIEW, , Fuzzy Logic

Kaynakça

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