“Fuzzy Based Automated Mobile Controlled Rescue Robot”
L.Srivathsan1, P.Velmurugan2, K.Sivashankar2 and M.Chandru2
1
Sri Sairam Engineering College,Anna University, Chennai
Srivathsan91@ymail.com,+91-9962219926
ABSTRACT- Of late natural and man made calamities became
unmanageable. Notwithstanding the fact that Government
takes all steps to protect and reduce the impact of calamity,
Right from the ancient times only humans are being used for
these rescue operations. However, over the past decade or so,
the autonomous systems role has changed – the emergence
of smart munitions and precision aerial bombardment has
resulted in the human entering tough urban combat
situations to mop up any remains of calamities. Our system is
the first of several such programs that are looking at
revamping the rescuers gear. Our system basically has two
modes. One mode is the automatic mode and the other mode
is user control mode. The automatic mode makes the robot to
detect the obstacles and move without any human
intervention using Fuzzy Logic. In certain unavoidable
circumstances the control comes to user who can control
the operations of the robot from remote location using a
mobile phone. The user can control the robot by seeing the
video through 3G technology. It also helps to provide medical
aid for needy. Our system can also be used to detect and
defuse the fire, human life detection during earth quakes.
Thus our aim is to provide a robotic system that can act as a
savior during natural and man made calamities.
Keywords— Fuzzy Logic,DTMF, Fuzzification,
DeFuzzification.
I. INTRODUCTION
One can create life no one has the rights to destroy it. The
saying goes like this. Right from the early stage humans
have lost their life during the rescue operations. Here in
our project we are going to take up this issue to build a
robotic system which can perform rescue operations in
wars, during earth quakes, fire etc. It has the capability of
terrain climbing. Our robot also has the capability of
detection and diffusion of the fire. This project is sure to
create revolution in the rescue operations.
II. EXISTING SYSTEM
There is much advancement in the field of engineering,
robotics in particular. Many robotic systems have been
developed for various purposes. There are certain systems
which are used for automatic motion of vehicles in road
and wheel chairs which can help disabled. There are also
robotic systems which can be used for defense purpose. In
addition to these advancements there are also robotic
systems which can perform rescue operations during
natural calamities. But these robotic system are being
controlled only be a remote computer which makes it less
reliable and confined only to less area.
III. PROPOSED SYSTEM
Here in the existing system there are only remote
monitoring and controlling of robots are available
using computer. Here in my system we are going to control
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the robot from remote location using a mobile phone
through 3G technology. Thus my system is more reliable
to as mobile phones have become order of the day. The
new proposed system can also perform rescue operation
automatically without human intervention and this is being
achieved using Fuzzy Logic. It also has many new
extended applications. My robot is also capable of
detecting and diffusing the bombs more quickly. It can
either be done through automatic mode or by user
mode. My system also contains fire detection module. This
project is a new idea that will enable a mobile robotic
system, to perform multiple tasks in a domestic
environment such as victim identification during natural
calamities, detecting land mines, trespassers, fire, and gas
leakage, home security etc. The location of the robot can
be detected by placing a GPS module. The robot also
has functionality to send all the collected information as
messages.
A. Fuzzy Logic
The autonomous movement and obstacle detection can
be achieved by using Fuzzy Logic. The basic steps to
be followed in designing a Fuzzy Logic Control System
are as given below.
 Identifying the input and output variables.
 Partitioning the interval of each input and
output into number of fuzzy subsets, assigning
each a linguistic label.
 Determining a membership function for each
fuzzy subset.
 Assigning the fuzzy relationship between the
“input fuzzy subsets” on one hand and the
“output fuzzy subsets” on the other hand, thus
forming the Rule-Base.
 Interpreting the rules using fuzzy “AND”
“OR”, operators. In fuzzy systems more than one
rule may fire at the same time, but with varied
strengths.
 Translating the processed fuzzy data into the crisp
data suitable for real world applications.
1) Fuzzification: The first input to our fuzzy system is
Distance-Distance between another vehicle and sensor.
The second input to our fuzzy system is Rate of Change
of Distance. The Output we get is Manipulator
Movement (The distance maintained between the
manipulator and another vehicle before taking diversion
in order to avoid collision). The Fuzzy sets here are
Long forward & Divert (LF), Medium Forward &
Divert (MF), Short Forward & Divert (SF), Soft Stop &
Divert (SS), hard stop & Divert (HS)
 2012 IEEE International Conference on Computational Intelligence and Computing Research

TABLE 1
Fuzzy Rule Table B. DTMF
The remote control of the robot is achieved using
Distance DTMF technology. The DTMF keypad is laid
Extremely Very Close Far Very
out in a 4×4 matrix, with each row representing a
Change Close Close Far
low frequency, and each column representing a
in
Distance
high frequency. Pressing a single key (such as
'1') will send a sinusoidal tone of the two
Very Soft Stop & Short Medium Long Long frequencies (697 and 1209 hertz (Hz)). The
Small Divert Forward Forward Forward Forward original keypads had levers inside, so each
& Divert & Divert & Divert & Divert button activated two contacts. The multiple tones
are the reason for calling the system multi
Small Soft Stop & Short Medium Long Long frequency. These tones are then decoded by
Divert Forward Forward Forward Forward the switching center to determine which key was
& Divert & Divert & Divert & Divert pressed.
The sounds used for touch tone dialing are
Medium Hard Stop Soft Short Medium Medium
referred to as DTMF (Dual Tone Multiple
& Divert Stop & Forward Forward Forward
Frequencies) tones. Each number (as well as the
Divert & Divert & Divert & Divert
"#" and "*") is represented by a pair of tones. For
Large Hard Stop Hard Soft Short Short instance, the number "1" is represented by the
& Divert Stop & Stop & Forward Forward frequencies 1209Hz and 697 Hz. The steps
Divert Divert & Divert & Divert involved are In phone settings, Auto-answer
option is enabled. Then we have to make the
Very Hard Stop Hard Hard Soft Soft call to the mobile which is connected to the
Large & Divert Stop & Stop & Stop & Stop & robot. When the call gets accepted, we have to
Divert Divert Divert Divert press the defined keys to make the robot to
move in particular direction.

The number of rules used in controlling the system using

fuzzy control is represented by TABLE 2
DTMF keypad frequencies
Number of Rules = Fuzzy Sets ^ Number of input
variables

Number of Rules = 5 ^2 = 25 Rules Hz 1209 Hz 1336 Hz 1477 Hz 1633 Hz

The Fuzzy IF then rules can be depicted in table.1 697 Hz 1 2 3 A

2) DeFuzzification: It is the process of taking a fuzzy

770 Hz 4 5 6 B
value and converting it into a numerical value called
Crisp value. It is required for generating a real world
output. The ‘Centroid method’ is the most prevalent
and of all the defuzzification methods and hence
used. 852 Hz 7 8 9 C

941 Hz * 0 # D

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 2012 IEEE International Conference on Computational Intelligence and Computing Research

C. Extended Applications IV. IMPLEMENTATION

Some of the extended applications of our robot is We have started with the implementation of our robot
and have finished implementing some of the
1) Vehicular Automation: modules. A snap shot is as given below.
This vehicular automation includes
1. Automobile Automation
2. Automatic Vehicles in Army, Space Research
3. Wheel Chairs

Here in these type of applications we no need to add

any thing new to the ROBOT because our robot itself
is capable of detecting the obstacles and move
around. In case of automobiles let us consider we
place the same circuit in a car then it can run with out
help of any human intervention once route map has
been fed into the microcontroller. In army, thousands
of people die during war times just while operating
trucks and tankers. If we automate these vehicles by
using our circuit it’s sure to bring revolution in the
defense field. In case of space research these types of
robots are vital because, for capturing images of
distant planets where human can’t go we need these
kinds of robots. Similarly the same robots can also be
used for paralytic and disabled persons for moving
around smaller distance.
2) Earth Mine Detection: As the robot designed by us
is capable of moving around different places by
detecting different obstacles the presence of a earth
mine can be easily detected by using earth mine
detection sensor which is readily available in the
market. We place the sensor in the robot which
moves to different places once if it detects with earth
mine or a bomb it gives signal to the handler by using
mobile phone.
3) Human Life Detection in Earth Quakes: The
Robot will have the PIR sensor, which will help to
detect the alive human beings. It consists of an IR
based human radiation sensor, which picks up signals
from human body radiations and gives a signal
output. The human body radiates infrared waves with
wavelengths of 8 to 12 micrometers. Whenever any
human being comes in the vicinity of the system the
IR system gives the Signal.
4) Fire Detection: A component in a fire detection
system that signals the presence of a fire or overheat
condition. Beads of a thermistor material (a material,
such as germanium, whose resistance changes with
its temperature) support a wire that forms part of the
fire detection circuit. The bead-supported wire is
enclosed in a metal tube routed through the area to be
protected. If the tube is heated by a fire, the
thermistor material changes from an insulator into a
conductor and completes an electrical circuit between
the central wire and the tube. This completed circuit
initiates the fire-warning procedure by turning on the
fire-warning light and sounding the fire-warning bell.
V. PROS
1.The wheel chair can be controlled from remote
locations during certain unavoidable circumstances
using cell phones.
2.The wheel chair also has the capability to climb
steep structures which are common in hospitals.
3.It also has in built Fuzzy Logic mechanism which
can avoid collisions more precisely.
VI. CONCLUSION
The proposed system is aimed towards to reduce the
human rescue operations. This also helps on
automatic bomb detection, Fire Detection, Human
Life detection etc. Our robot also has terrain climbing
facility. Hence, this system is sure to create a
revolution in its own field and ensure complete
support from people of different societies.
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Receiver for Dual-Tone Multi-frequency (DTMF) Signals”,
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[4] M. J. Callahan Jr., “Integrated DTMF Receiver”, IEEE
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[8] Fuzzy Logic, Intelligence, Control and Information by
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