A FUZZY LOGIC CONTROL SYSTEM FOR A MOVING

OBJECT TO AVOID OBSTACLES

ABSTRACT
Robotics applications require high dexterity and dynamic response.
Dynamic of a moving object is related to unknown motion path. The motion of the
target will be varying with respect to time. It is difficult to describe dynamic
motion with a single equation. This paper proposes a fuzzy logic prediction system
improve the performance of motion tracking system. The dynamic models of a
moving target are replaced with set of fuzzy inference rules. A Fuzzy Prediction
System (FPS) is introduced. This Fuzzy Logic Controller comprises of two layers
in a cascaded form. The first layer is responsible for coarse step prediction. The
second layer is responsible for fine step correction. This proposed Fuzzy Logic
controller was tested with computer simulation. It was implemented and evaluated
by a real time imaging system utilizing an inexpensive webcam. The proposed
system was tested with an object moving at about 400 mm/sec. Correlation
between the measured path and predicted path has been investigated. From this
study, it was found that that system is capable of predicting a target motion path; a
correlation result of approximately 0.97 was achieved.

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