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PID Control and Fuzzy Logic System to the Obstacle Avoidance in an Autonomous Robot | IEEE Conference Publication | IEEE Xplore

PID Control and Fuzzy Logic System to the Obstacle Avoidance in an Autonomous Robot


Abstract:

This paper describes an obstacle avoidance system to a mobile differential robot integrated with 9 infrared sensors, 7 for the detection of obstacles and 2 for the detect...Show More

Abstract:

This paper describes an obstacle avoidance system to a mobile differential robot integrated with 9 infrared sensors, 7 for the detection of obstacles and 2 for the detection of the limit of the environment where the robot will move. A system based on fuzzy logic translates the values read from infrared sensors and adjusts them to position values in degrees. To executing the robot movements with a minimal overshoot was implemented a digital PID control, which allows conduct the robot to the reference degree that the fuzzy system returns. The control system was programmed in the ARM Cortex-M4 STM32F407 microcontroller, using Micropython-OS. The validation tests are described and the results analysis gives a standard deviation of the error of 0.33.
Date of Conference: 10-12 November 2021
Date Added to IEEE Xplore: 14 December 2021
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Conference Location: Mexico City, Mexico

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