Fuzzy Logic of Speed and Steering Control System for Three Dimensional Line Following of an Autonomous Vehicle

The major problem of robotics research today is that there is a huge barrier to entry into Robotics research due to system software complexity and need for a researcher to learn more about details, dependencies and intricacies of the complete system. This is because a robot system needs several different modules to communicate and execute in parallel. Today there are not much controlled comparisons of algorithms and solutions for a given task, which is the standard scientific method of other sciences. There is also very little sharing between groups and projects, requiring code to be written from scratch over and over again. This paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic [8] [9] approach for steering and speed control [37], a FL approach for ultrasound sensing and an overall expert system for guidance. The advantages of a modular system are related to portability and transportability, i.e. any vehicle can become autonomous with minimal modifications. A mobile robot test bed has been constructed in university of Cincinnati using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors. The speed and steering fuzzy logic controller is supervised through a multi-axis motion controller. The obstacle avoidance system is based on a microcontroller interfaced with ultrasonic transducers. This micro-controller independently handles all timing and distance calculations and sends distance information back to the fuzzy logic controller via the serial line. This design yields a portable independent system in which high speed computer communication is not necessary. Vision guidance has been accomplished with the use of CCD cameras judging the current position of the robot.[34] [35][36] It will be generating a good image for reducing an uncertain wrong command from ground coordinate to tackle the parameter uncertainties of the system, and to obtain good WMR dynamic response.[1] Here we Apply 3D line following mythology. It transforms from 3D to 2D and also maps the image coordinates and vice versa, leading to the improved accuracy of the WMR position. The fuzzy logic Controller may give a good command signal; moreover we can find a highly accurate plant model to design the controller taking into account The unknown factors like friction and dynamic environment .This design, in its modularity, creates a portable autonomous fuzzy logic controller applicable to any mobile vehicle with only minor adaptations.