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Design of MIMO Mamdani Fuzzy Logic Controllers for Wall Following Mobile Robot

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Soft Computing Applications

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 195))

Abstract

This paper describes the design of wall tracking robot mobile based on intelligent controller, Fuzzy Logic controller, that it’s equipped with three ultrasonic sensors. The distance of robot from the wall read by two ultrasonic sensors placed on left side and another in head of robot. The measured values of sensors are inputs for fuzzy logic controller that generates motor commands, directly for right motor and indirect for left motor. The range of fuzzy controller output set to be used in duty cycle of PWM signal. For design the rules, we have an algorithm to determine of best rule for each position. In addition it has been tried within increase accuracy also the speed factor improves. The controllers are design in MATLAB® Fuzzy Logic Toolbox.

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References

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Author information

Authors and Affiliations

  1. School of Electrical and Computer Engineering, Shiraz University, Iran, Shiraz

    Nasim Paykari, Seyed Hamidreza Abbasi & Faridoon Shabaninia

Authors
  1. Nasim Paykari
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  2. Seyed Hamidreza Abbasi
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  3. Faridoon Shabaninia
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Corresponding author

Correspondence to Nasim Paykari .

Editor information

Editors and Affiliations

  1. , Department of Automation & Applied Infor, Aurel Vlaicu University of Arad, Blvd. Revolutiei 77, Arad, 310130, Romania

    Valentina Emilia Balas

  2. , Institute of Intelligent Engineering, Óbuda University, Bécsi út 96/b, Budapest, 1034, Hungary

    János Fodor

  3. Dept. Measurement &, Information Systems, Technical University Budapest, Magyar tudósok körutja 2, Budapest, 1521, Hungary

    Annamária R. Várkonyi-Kóczy

  4. , Department of Informatics, University of Szeged, Arpad ter 2., Szeged, 6720, Hungary

    Joszef Dombi

  5. , School of Electrical and Information, University of South Australia, 5095, Adelaide, Australia

    Lakhmi C. Jain

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© 2013 Springer-Verlag Berlin Heidelberg

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Paykari, N., Abbasi, S.H., Shabaninia, F. (2013). Design of MIMO Mamdani Fuzzy Logic Controllers for Wall Following Mobile Robot. In: Balas, V., Fodor, J., Várkonyi-Kóczy, A., Dombi, J., Jain, L. (eds) Soft Computing Applications. Advances in Intelligent Systems and Computing, vol 195. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33941-7_16

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  • DOI: https://doi.org/10.1007/978-3-642-33941-7_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33940-0

  • Online ISBN: 978-3-642-33941-7

  • eBook Packages: EngineeringEngineering (R0)

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