Design and synthesis of mobile robot controller using fuzzy

Md. Shabiul Islam, Md Anwarul Azim, Md Saukat Jahan, Masuri Othman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper describes a Fuzzy Logic Controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobile robot is found to be able to react to the environment appropriately during its navigation to avoid crashing with obstacles by turning to the proper angle while moving. The Fuzzy Logic algorithm has proven a commendable solution in dealing with certain control problems when the situation is ambiguous. One of the main difficulties faced by conventional control systems is the inability to operate in a condition with incomplete and imprecise information. As the complexity of a situation increases, a traditional mathematical model will be difficult if not impossible to implement. Fuzzy Logic is a tool for modeling uncertain systems by facilitating common sense reasoning in decision-making in the absence of complete and precise information. In this paper, the controller of an autonomous mobile robot is designed based on the theories of Fuzzy Logic. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB session with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes for hardware implementation. Comparison resultsbetween MATLAB and VHDL of MRC algorithm also presented. Then the VHDL codes are synthesized using synthesis tool, known as Quartus II. Finally the MRC hardware blocks for VLSI design have been carried out.

Original languageEnglish
Title of host publicationIEEE International Conference on Semiconductor Electronics, Proceedings, ICSE
Pages825-829
Number of pages5
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Semiconductor Electronics, ICSE 2006 - Kuala Lumpur
Duration: 29 Nov 20061 Dec 2006

Other

Other2006 IEEE International Conference on Semiconductor Electronics, ICSE 2006
CityKuala Lumpur
Period29/11/061/12/06

Fingerprint

Mobile robots
Controllers
Computer hardware description languages
Fuzzy logic
MATLAB
Hardware
Robots
Uncertain systems
Fuzzy rules
Navigation
Decision making
Mathematical models
Control systems

Keywords

  • Fuzzy rules
  • Mobile robot controller
  • Navigation algorithm
  • Synthesis
  • VHDL

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Islam, M. S., Azim, M. A., Jahan, M. S., & Othman, M. (2006). Design and synthesis of mobile robot controller using fuzzy. In IEEE International Conference on Semiconductor Electronics, Proceedings, ICSE (pp. 825-829). [4266735] https://doi.org/10.1109/SMELEC.2006.380752

Design and synthesis of mobile robot controller using fuzzy. / Islam, Md. Shabiul; Azim, Md Anwarul; Jahan, Md Saukat; Othman, Masuri.

IEEE International Conference on Semiconductor Electronics, Proceedings, ICSE. 2006. p. 825-829 4266735.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Islam, MS, Azim, MA, Jahan, MS & Othman, M 2006, Design and synthesis of mobile robot controller using fuzzy. in IEEE International Conference on Semiconductor Electronics, Proceedings, ICSE., 4266735, pp. 825-829, 2006 IEEE International Conference on Semiconductor Electronics, ICSE 2006, Kuala Lumpur, 29/11/06. https://doi.org/10.1109/SMELEC.2006.380752
Islam MS, Azim MA, Jahan MS, Othman M. Design and synthesis of mobile robot controller using fuzzy. In IEEE International Conference on Semiconductor Electronics, Proceedings, ICSE. 2006. p. 825-829. 4266735 https://doi.org/10.1109/SMELEC.2006.380752
Islam, Md. Shabiul ; Azim, Md Anwarul ; Jahan, Md Saukat ; Othman, Masuri. / Design and synthesis of mobile robot controller using fuzzy. IEEE International Conference on Semiconductor Electronics, Proceedings, ICSE. 2006. pp. 825-829
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