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Autonomous line follower robot with fuzzy based hybrid controller
Journal of Intelligent & Fuzzy Systems ( IF 2 ) Pub Date : 2020-11-19 , DOI: 10.3233/jifs-189076
Anıl Sezgin 1 , Ömer Çetin 1
Affiliation  

The autonomous navigation problem is currently a popular research topic encountered in many different areas, from smart cars to automated warehouse operations. Autonomous navigation of robotic systems is examined in two basic areas, with and without external supports. Even if the robot uses external supports (like GPS, road signs, ground surface lines, barcodes etc.) or positioning itself with internal sensors (like gyro, IMU, etc.), it independently needs a control method to follow the desired route. When the widely used control approaches in the literature are examined, PID and fuzzy-based approaches are frequently encountered. They both offer advantages and disadvantages. Within the scope of this study, the positive aspects of both of control approaches are utilized and the hybrid control approach for a robot that can autonomously follow the ground line presented as an external reference is mentioned. The success of the approach was tested comparatively on an exemplary mobile platform. The applied results obtained experimentally showed that a more efficient fuzzy logic-based hybrid control method could be developed. In addition, the effect of the number of conditions in the rule table on the success of the hybrid control technique is shown in the study. It has also been experimentally demonstrated that the success of hybrid control approach with a limited low power consuming ARM based processor that is suitable to control most of lightweight mobile platforms.

中文翻译:

具有模糊混合控制器的自主直线跟随器机器人

自主导航问题当前是在许多不同领域中遇到的热门研究主题,从智能汽车到自动化仓库操作。在有或没有外部支持的情况下,在两个基本领域对机器人系统的自主导航进行了研究。即使机器人使用外部支撑(例如GPS,路标,地表线,条形码等)或使用内部传感器(例如陀螺仪,IMU等)定位自身,它也需要独立的控制方法来遵循所需的路线。当检查文献中广泛使用的控制方法时,经常会遇到PID和基于模糊的方法。它们都具有优点和缺点。在这项研究的范围内,两种控制方法的积极方面都得到了利用,并且提到了一种混合机器人控制方法,该方法可以自主跟随作为外部参考的地​​面线。该方法的成功在一个示例性移动平台上进行了比较测试。通过实验获得的应用结果表明,可以开发出一种更有效的基于模糊逻辑的混合控制方法。此外,研究中还显示了规则表中条件数量对混合控制技术成功与否的影响。实验还证明了混合控制方法在有限的低功耗,基于ARM的处理器上的成功,该处理器适用于控制大多数轻量级移动平台。该方法的成功在一个示例性移动平台上进行了比较测试。通过实验获得的应用结果表明,可以开发出一种更有效的基于模糊逻辑的混合控制方法。此外,研究中还显示了规则表中条件数量对混合控制技术成功与否的影响。实验还证明了混合控制方法在有限的低功耗,基于ARM的处理器上的成功,该处理器适用于控制大多数轻量级移动平台。该方法的成功在一个示例性移动平台上进行了比较测试。通过实验获得的应用结果表明,可以开发出一种更有效的基于模糊逻辑的混合控制方法。此外,研究中还显示了规则表中条件数量对混合控制技术成功与否的影响。实验还证明了混合控制方法在有限的低功耗,基于ARM的处理器上的成功,该处理器适用于控制大多数轻量级移动平台。研究显示了规则表中条件数量对混合控制技术成功的影响。实验还证明了混合控制方法在有限的低功耗,基于ARM的处理器上的成功,该处理器适用于控制大多数轻量级移动平台。研究显示了规则表中条件数量对混合控制技术成功的影响。实验还证明了混合控制方法在有限的低功耗,基于ARM的处理器上的成功,该处理器适用于控制大多数轻量级移动平台。
更新日期:2020-11-25
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