GOVERNMENT ENGINEERING COLLEGE KUSHALNAGAR

TECHNICAL SEMINAR

On

"Obstacles Avoidance for Mobile Robot Using Type-2 Fuzzy

Logic Controller"

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING
2022-2023

Presented by
SANJAY B M
 Abstract :

• This project primarily addresses the design and implementation of

fuzzy logic based controller for obstacles avoidance robot
• Some techniques, sensors and controller have been applied to fulfill
the requirements of the robot.
• The robot able to interactwith an unknown environment using a
reactive strategy determined by the sensors information.
• The obstacle avoidance controller is a two inputs and two outputs
system.
• The inputs are two proximity measurement of the obstacles distance,
and the outputs are the velocities of the two wheels.
 Introduction :
• In order to design and develop an obstacles avoidance robot by using
fuzzy logic controller.
• Nowadays, robots are an inseparable part of our life. Robots with
movement ability mpose themselves through many applications,
including medical facilities hospitality, entertainment, package
delivery, space and military.
• The obstacle avoidance is an important feature in mobile robots that
enables them to reach their destination point collision free. This
necessitates providing them with a decision- making capability for
planning .
 Objectives:
• To develop a two wheels obstacle avoidance robot that can avoid
unknown or unexpected obstacles in an unknown environment.
• To design Sugeno fuzzy logic controller for the obstacle avoidance robot.
• To embedded the Sugeno fuzzy control into the robot.
• To test the robot performance at real time.
Relevance of the work :
• Behavior-based methods have been widely used for navigation of
mobile robot such as line navigation and wall navigation method.
• Using wall navigation, not all the paths for robot movement is along
the walls. Robot will detect far distance or false reading of wall if the
robot crossing the space located at walls.
• By using line navigation, not all surface of the floor suitable can be
planted a line as guidance.
Proposed Methodology :
• Fuzzification :Converts controller inputs into information that the inference
mechanism can be easily use to activate and apply rules.

• Rule- base : A set of IF-Then rules which contains a fuzzy logic quantification of the
expert’s linguistic description of how to achieve good control.

•Defuzzification : This converts the conclusions of the interface mechanism into actual
inputs for the process.
Conclusion :
• A Type-2 fuzzy logic controller algorithm was proposed to detect and
avoid static or dynamic obstacles, using three infrared sensors. The
required data for the algorithm from the three sensors are analog
voltages which reflect the distance of the obstacle in cm, with a scale
of (1 V = 12 cm).
• The sensors’ readings were fed to the obstacle-avoidance Type-2 fuzzy
logic controller as crisp voltage inputs that were fuzzified into three
fuzzy sets each. Its action based on the TSK Type-2 fuzzy algorithm
was used to control the linear Robotino velocity at the y-direction.
Future scope :
• There are some suggestions for promising future research using laser
sensors. So, Robotino can detect small near obstacles that an infrared
sensor cannot because of its features.
• Moreover, other control strategies could be introduced, such as Neuro-
Type-2 fuzzy controllers. This will help to decide which controller is fit to
control Robotino in both Robotino guiding and obstacle-avoidance cases,
compared with the designed Type-2 fuzzy logic controller responses.
• It is also worth it to apply the Mamdani Type-2 fuzzy logic algorithm and
compare its results with those of the TSK Type-2 fuzzy algorithm applied
in this research The Global Position System (GPS) concept could be
introduced for guiding an outdoor mobile robot.
References :
• [1] Rubio, F.; Valero, F.; Llopis-Albert, C. A review of mobile robots: Concepts, methods,
theoretical framework, and applications. Int. J. Adv. Robot. Syst. 2019, 16, 1–22.
• [2] Pandey, A.; Pandey, S.; Parhi, D.R. Mobile robot navigation and obstacle avoidance
techniques: A review. Int. Rob. Auto J. 2017, 2, 00022.
• [3] Mendel, J.; Hagras, H.; Tan, W.W.; Melek, W.W.; Ying, H. Introduction to Type-2
Fuzzy Logic Control: Theory and Applications; John Wiley & Sons: Hoboken, NJ, USA,
• [4] Al-Dahhan, M.R.H.; Ali, M.M. Path tracking control of a mobile robot using fuzzy
logic. In Proceedings of the 2016 13th International Multi-Conference on Systems, Signals
& Devices (SSD), Leipzig, Germany, 21–24 March 2016; pp. 82–88.
• [5] Khairudin, M.; Refalda, R.; Yatmono, S.; Pramono, H.S.; Triatmaja Adhy Kurnia Shah,
A. The Mobile Robot Control in Obstacle Avoidance Using Fuzzy Logic Controller.
Indones. J. Sci. Technol. 2020, 5, 334–353.
THANK YOU