A very challenging problem in mobile robot systems is mostly in obstacle avoidance strategies. This study aims to describe how the obstacle avoidance system on mobile robots works. This system is designed automatically using fuzzy logic control (FLC) developed using Matlab to help the mobile robots to avoid a head-on collision. The FLC designs were simulated on the mobile robot system. The simulation was conducted by comparing FLC performance to the proportional integral derivative (PID) controller. The simulation results indicate that FLC works better with lower settling time performance. To validate the results, FLC was used in a mobile robot system. It shows that FLC can control the velocity by braking or accelerating according to the sensor input installed in front of the mobile robot. The FLC control system functions as ultrasonic sensor input or a distance sensor. The input voltage was simulated with the potentiometer, whereas the output was shown by the velocity of DC motor. This study employed the simulation work in Simulink and Matlab, while the experimental work used laboratory scale of mobile robots. The results show that the velocity control of DC motors with FLC produces accurate data, so the robot could avoid the existing obstacles. The findings indicate that the simulation and the experimental work of FLC for mobile robot in obstacle avoidance are very close.


    Access

    Download


    Export, share and cite



    Title :

    The Mobile Robot Control in Obstacle Avoidance Using Fuzzy Logic Controller


    Contributors:
    Khairudin, M. (author) / Refalda, R. (author) / Yatmono, S. (author) / Pramono, H. S. (author) / Triatmaja, A. K. (author) / Shah, A (author)

    Publication date :

    2020-12-01


    Remarks:

    doi:10.17509/ijost.v5i3.24889
    Indonesian Journal of Science and Technology; Vol 5, No 3 (2020): IJOST: VOLUME 5, ISSUE 3, 2020; 334-351 ; 2527-8045 ; 2528-1410 ; 10.17509/ijost.v5i3



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Obstacle Avoidance using Fuzzy Logic Controller on Wheeled Soccer Robot

    Rinanto, Noorman / Marzuqi, Irfan / Khumaidi, Agus et al. | BASE | 2019

    Free access

    Fuzzy controller for obstacle-avoidance with a non-holonomous mobile robot

    Uribe, Juan Pedro / Urzelai, Joseba | BASE | 1998

    Free access

    The Integration of Fuzzy Logic System for Obstacle Avoidance Behavior of Mobile Robot

    Anwar Apandi, Nur Ilyana / Martin, Aerun | BASE | 2019

    Free access

    Intelligent Control Concerning Obstacle Avoidance of Mobile Robot

    Nagata, H. / Tsuchiya, T. | British Library Online Contents | 1996


    Collaborative Fuzzy Controlled Obstacle Avoidance in a Vibration-Driven Mobile Robot

    Lewin, Gustavo Fontes / Fabro, João Alberto / Lima, Jose et al. | Springer Verlag | 2022