An Embedded Fuzzy Type-2 Controller Based Sensor Behavior for Mobile Robot

Nurmaini, Siti (2008) An Embedded Fuzzy Type-2 Controller Based Sensor Behavior for Mobile Robot. In: 2008 Eighth International Conference on Intelligent Systems Design and Applications, 26 November 2008, Taiwan.


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This paper presents a type-2 fuzzy logic controller that has been applied to a mobile robot utilizing eight ultrasonic sensors as distance sensors. The inputs are obtained from the mounted ultrasonic sensors and sent to a microchip PIC 16F84 microcontroller onboard the robot. Furthermore the PIC16F84 analyses the inputs as data and provides the necessary control signal. The controller, which based on sensor behavior and consist of three tasks obstacle avoidance, wall following, and emergency condition was designed using AT89X55 microcontroller. The experiment result obtained demonstrate that the efficiency of type-2 fuzzy logic controller and performs better than on-off and type-1 fuzzy logic controller

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: control, sensor, type-2 fuzzy logic, type-1 fuzzy logic
Subjects: T Technology > T Technology (General) > T1-995 Technology (General)
Divisions: 09-Faculty of Computer Science > 56401-Computer Engineering (D3)
Depositing User: Dr. Ir. MT Siti Nurmaini
Date Deposited: 30 Sep 2019 02:38
Last Modified: 30 Sep 2019 02:38

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