Implementation of Fuzzy Controller for Mobile Robot Navigation on NI’s Embedded- FPGA Robotic Platform

Authors : Mahmut DİRİK, Adnan Fatih KOCAMAZ, Emrah DONMEZ

Pages : 80-87

View : 34 | Download : 7

Publication Date : 2019-12-01

Article Type : Research Paper

Abstract :Autonomous mobile robots in the field of modern automation technology have gained interest in the last decades. A navigation system of an autonomous mobile robot in a cluttered insert ignore into journalissuearticles values(with static or dynamic obstacle); environment is one of the interest areas. This paper presents Fuzzy logic controller based obstacle avoidance approach for National Instruments insert ignore into journalissuearticles values(NI);’s embedded robotic platform which to host the SBRIO insert ignore into journalissuearticles values(Single-board Reconfigurable Input-Output); that includes a powerful real-time controller, and a field programmable gate array insert ignore into journalissuearticles values(FPGA);. The robot platform used here has an ultrasonic sensor located at the front of the robot and rotatable from -65 to 65 degrees. To construct the proposed system, it has used twelve insert ignore into journalissuearticles values(12); sensors information as input parameters. The design and software were implemented using LabVIEW modules. In order to provide better insight into the experiment’s objectives, the proposed methods compared with the VFH algorithm. The experimental results verified in simulation modes which are simplicity and quicker reacting to sudden changes in sharp-edged shapes. It is cleared that the fuzzy logic approach was successfully applied to the DaNI mobile robot to navigate in the safest direction.   
Keywords : Mobile Robot, Obstacle Avoidance, DaNI, LabVIEW, Fuzzy Logic

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