Fuzzy based mobile robot navigation on motion tracking using ros

Ahmad Alif Sulaiman, Mohd Johari (2021) Fuzzy based mobile robot navigation on motion tracking using ros. Faculty of Electrical And Electronic Engineering Technology, Universiti Malaysia Pahang.

EA18058_AHMAD ALIF_ THESIS - Ahmad Alif Sulaiman Bin Mohd Johari.pdf - Accepted Version

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With the progresses of innovation, versatile robots are getting to be prevalent. Agreeing to Karthiga (2014) created nations get the help of portable robots to protect people in fiasco region and this has been demonstrated as a profitable strategy to dispense with human blunder. In such occasions robot are required to explore in antagonistic situations such as collapsing buildings or ranges influenced fire. This thesis presents essentially mark the representation and usage of fuzzy logic-based controller for obstacles avoidance robot. A few strategies, controller and simulation are connected for carry off the prerequisites of the mobile robot. The robot competent to associated for obscure surroundings employing receptive technique decided with commands from fuzzy logic. Fuzzy Logic Controllers (FLC) is a shrewdly strategy demonstrates with foremost dependable controllers that suit well for nonlinear system. The design of a rule based fuzzy-logic controller for robot route with obstacles avoidance in unknown surroundings, based on the Mamdani type fuzzy strategy. Utilizing this Mamdani-type within the fuzzy controller, information of input and output mapping is gathered. The obstacle avoidance controller may be a two input and one output framework. The inputs are position error and angular error, and the outputs are the speeds of the two wheels. For the FLC, three sorts of membership functions are taking account for. Linguistic variables such as “Near”, “Medium” and “Far” are taken for three-membership work. This strategy creates reasonable heading point navigate control for independent automobile that utilized by the robot to get to its goal point without any crash in unknown surroundings. ROS encourages significantly setting-up appropriate surroundings to test the designed controller. Its employments a system utilizing ROS concepts so that a direction following controller can be executed on any ROS-enabled mobile robot. The robot route framework and model are developed in MATLAB and ROS. Simulation comes about appear the strategy can be utilized for wheeled mobile robot moving in cluttered surroundings of many hurdles. It can identify an obstacle up to 3 cm to 300 cm. When robot avoids a hurdle, the robot will detect unused surroundings. From this signal, the controller controls the speed of left and right wheels in this way making the robot to move forward and turning at the same time. The success of mobile robot route control depends for the most part on the exactness of outright estimations of its position, goal distance and speed. Diverse obstacles distance moreover been tried and the robot response is working as anticipated.

Item Type: Undergraduates Project Papers
Additional Information: SV: Dr. Hamzah Bin Ahmad
Uncontrolled Keywords: mobile robot navigation, motion tracking using ros
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical and Electronic Engineering Technology
Depositing User: Mr. Nik Ahmad Nasyrun Nik Abd Malik
Date Deposited: 24 Oct 2023 09:40
Last Modified: 24 Oct 2023 09:40
URI: http://umpir.ump.edu.my/id/eprint/39007
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