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

Authors : Mahmut Dirik, Adnan Fatih Kocamaz, Emrah Donmez

Pages : 80-87

View : 17 | Download : 10

Publication Date : 2019-12-01

Article Type : Research

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 (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 (NI)’s embedded robotic platform which to host the SBRIO (Single-board Reconfigurable Input-Output) that includes a powerful real-time controller, and a field programmable gate array (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 (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