The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of COMPUTERS
Transactions ID Number: 20-701
Full Name: Mousa AL-Akhras
Position: Assistant Professor
Age: ON
Sex: Male
Address: P.O.Box 13835, The University of Jordan
Country: JORDAN
Tel: 0096277 9328463
Tel prefix: 0096277
Fax: 0096263500233
E-mail address: mousa.akhras@ju.edu.jo
Other E-mails: mousa78@yahoo.com, saadeh.maha@yahoo.com
Title of the Paper: An Autonomous Fuzzy-controlled Indoor Mobile Robot for Path Following and Obstacle Avoidance
Authors as they appear in the Paper: Mousa AL-Akhras, Mohammad Salameh, Maha Saadeh, Mohammed ALAwairdhi
Email addresses of all the authors: mousa.akhras@ju.edu.jo, m.omar82@gmail.com, saadeh.maha@yahoo.com, mawairdhi@imamu.edu.sa
Number of paper pages: 9
Abstract: This paper provides the design and implementation details of an autonomous, battery-powered robot that is based on Fuzzy Logic. The robot is able to follow a pre-defined path and to avoid obstacles, after avoiding an obstacle, the robot returns back to the path. The proposed system is divided into two main modules for path following and for obstacle avoidance and line search. Path following controller is responsible for following a pre-defined path, when an obstacle is detected, obstacle avoidance and line search controller is called to avoid the obstacle and then to return to the path. When the robot finds the path again, path follower controller is called. LEGO Mindstorms NXT robot was used to realise the proposed design. The detailed design steps of the robot are provided for readers who are interested in replicating the design. For the implementation of the path following, Fuzzy Logic was employed. Fuzzy Logic controller takes the robot's light and ultrasonic !
sensory readings as input and sends commands to the robot motors to control the robot's speed and direction. An extensive set of experiments considering both simple and complicated scenarios for path following and obstacle avoidance were conducted and the results proved the effectiveness of the system. Images of such scenarios are provided for reference and many videos were uploaded and the links are given in the paper for interested readers.
Keywords: Fuzzy Logic, LEGO Mindstorms NXT, Robot, Obstacle Avoidance, Path Following
EXTENSION of the file: .pdf
Special (Invited) Session: Path Following and Obstacle Avoidance Fuzzy Controller for Mobile Indoor Robots
Organizer of the Session: 653-097
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