ICA  Vol.4 No.1 , February 2013
Wall Follower Autonomous Robot Development Applying Fuzzy Incremental Controller
Abstract: This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled using fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to determine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guidance line and has good performance compare with PID controller.
Cite this paper: D. Hanafi, Y. Abueejela and M. Zakaria, "Wall Follower Autonomous Robot Development Applying Fuzzy Incremental Controller," Intelligent Control and Automation, Vol. 4 No. 1, 2013, pp. 18-25. doi: 10.4236/ica.2013.41003.

[1]   R. Carelli, C. Soria, O. Nasisi and E. O. Freire, “Stable AVG Corridor Navigation with Fuse Vision-Based Control Signals,” IEEE Proceeding of Industrial Electronics Society Conference, Sevilla, 5-8 November 2002, pp. 2433-2438.

[2]   R. Carelli and E. Freire, “Stable Corridor Navigation Controller for Sonar-Based Mobile Robots,” Technical Report, INAW, Universidad Nacional de San Juan, San Juan, 2001.

[3]   R. Malhotra and A. Sarkar, “Development of a Fuzzy Logic Based Mobile Robot for Dynamic Obstacle Avoidance and Goal Acquisition in an Unstructured Enviroment,” IEEE/ASME Proceeding of International Conference on Advanced Intelligent Mechatronics, Kobe, 20- 24 July 2003, pp. 235-247.

[4]   P. M. Peri, “Fuzzy Logic Controller for an Autonomous Mobile Robot,” Master Thesis, Cleveland State University, Cleveland, 2005.

[5]   D. Ratner and P. McKerrow, “Navigation an Outdoor Robot along Continuous Landmarks with Ultrasonic Sensing,” Robotics and Autonomous Systems, Vol. 45, No. 1, 2003, pp. 73-82. doi:10.1016/S0921-8890(03)00096-4

[6]   R. Carelli and E. O. Freire, “Navigation Outdoor and Wall-Following Stable Control for Sonar-Based Mobile Robots,” Robotics and Autonomous Systems, Vol. 45, No. 3-4, 2003, pp. 235-247. doi:10.1016/j.robot.2003.09.005

[7]   R. Benporad, M. Di Marco and A. Tesi, “Wall-Following Controller for Sonar-Based Mobile Robots,” Proceeding of IEEE Conference on Decision and Control, San Diego, 10-12 December 1997, pp. 3063-3068.

[8]   Japan Robot Society, “Summary Report on Technology Strategy for Creating a Robot Society in 21st Century,” 2001. 0105.pdf

[9]   D. Simon, “Analyzing Control System Robustness,” IEEE Potentials, Vol. 21, No. 1, 2002, pp.16-19.

[10]   B. Davies and W. E. R. Davies, “Practical Robotics: Principles and Applications,” Prentice Hall, Upper Saddle River, 1997.

[11]   Z. Gao, “From Linear to Nonlinear Control Means: A Practical Progression,” ISA Transactions, Vol. 41, No. 2, 2002, pp. 177-189. doi:10.1016/S0019-0578(07)60077-9

[12]   Z. Gao, Y. Huang and J. Han, “An Alternative Paradigm for Control System Design,” Proceeding of IEEE Conference on Decision and Control, Orlando, 4-7 December 2001, pp. 4578-4585.

[13]   G. McComb and M. Preoko, “The Robot Builder’s Bonanza,” 3rd Edition, McGraw Hill, New York, 2006.

[14]   R. Braunsting, J. Mujika and J. P. Uribe, “A Wall Following Robot with a Fuzzy Logic Controller Optimized by a Genetic Algorithm,” Fuzzy Systems, Vol. 5, 1995, pp. 77-82.

[15]   M. Ergezer, “Multivariable Control Method for Wall Tracking Robot,” Project Paper, Department of Electrical and Computer Engineering, Cleveland State University, Cleveland, 2006.

[16]   O. J. Sordalen, “Feedback Control of Nonholonomic Mobile Robots,” Ph.D. Thesis, Department of Engineering Cybernetics, The Norwegian Institute of Technology, 2006.

[17]   B. Cai and D. Konik, “Intelligent Vehicle Active Suspension Control Using Fuzzy Logic,” Proceeding of IFAC World Congress, Vol. 2, 1993, pp. 231-236.

[18]   Z. Yi, H. Y. Khing, C. C. Seng and Z. X. Wei, “Multi-Ultrasonic Sensor Fusion for Mobile Robots,” IEEE Proceeding of the Intelligent Vehicle Symposium, Dearborn, 3-5 October 2000, pp. 387-391.

[19]   I. Skrjanc and D. Matko, “Predictive Function Control Based on Fuzzy Model for Heat-Exchanger Pilot Plant,” IEEE Transaction on Fuzzy Systems, Vol. 8, No. 6, 2000, pp. 705-712. doi:10.1109/91.890329

[20]   D. Hanafi, M. N. M. Than, A. A. A. Emhemed, T. Mulyana, A. M. Zaid and A. Johari, “Heat Exchanger’s Shell and Tube Modeling for Intelligent Control Design,” IEEE Proceeding of 3rd International Conference on Communication Software and Networks, Xi’an, 27-29 May 2001, pp. 37-41.

[21]   M. Veerachary and D. Sharma, “Fuzzy Incremental Controller for the 3rd Bulk Converter,” IEEE Proceeding of International Conference on Power Electronics and Drive Systems, Bangkok, 27-30 November 2007, pp. 768-771.