Fuzzy Logic Approach for Mobile Robot in Intelligent Space

This project introduces the fuzzy logic approach for mobile robot in intelligent space. There are three major algorithms involved. They are known as object classification, object tracking and obstacle avoidance. The inputs are received from cameras which are mounted at a ceiling. The main idea of the object classification is to classify object into three categories depending upon their colors; the categories are mobile robot, destinations and obstacle position. These categories are represented by X symbol with different colors. This system is to teach and train the mobile robot proceeding to destination without hitting the obstacle. The mobile robot is autonomous; that means, it could be pursuing to the target position automatically without user guided. In this project, fuzzy logic is use to guide the mobile robot direction until it reaches the target position. This system is generates in real-time and suitable for indoor environment applications. One of the unique advantages of this project is that it only uses, there only used a camera and image processing generated by the algorithms itself without additional sensor such as sonar or IR sensor

Real Time Cascade PI Control for Position Monitoring of DC Brushed Motor

This paper depicts the development of real time motor drive system. The modeling of Direct Current (DC) motor is vital in this work and hence is discussed in brief. Experimental setup consists of DC motor, rotary encoder, interface card and personal computer is thoroughly configured to obtain useful data such as control signal, speed and position of the motor. User interface and control algorithm is developed using Microsoft Visual C#. Proportional-Integral (PI) algorithm is developed to perform cascaded control of the DC motor. The system equipped with fixed inner current loop control parameters while the outer speed and position loop is varied to obtain the most satisfied position and speed of such motor. Through comparison of demanded speed and position, literal analysis of real time speed and position is thoroughly discussed

A COMPARATIVE STUDY OF PASSIVE AND ACTIVE SUSPENSION FOR AUTOMOBILE APPLICATIONS

The purpose of suspension system in automobile is to improve the ride comfort and road handling. In this research the ride and handling performance of a specific automobile with passive suspension system is compared to a proposed optimal control method active suspension system designed for that automobile. The controller will improve the ride quality and handling performance within a given suspension stroke limitation. The problems of passive control are excessive vertical wheel travel, non-optimum altitude of tire relative to road, also the force distribution of the suspension, resulting poor handling, body roll or body pitch when braking or accelerating and ride discomfort. This problem will be overcome by using active control suspension which the method chosen is optimal controller. The performance of this controller is determined by performing computer simulations using the MATLAB and SIMULINK. The results show that the active suspension system has reduced the peak overshoot of sprung mass displacement, sprung mass acceleration, suspension travel and tire deflection compared to passive suspension system

Development of an automatics parallel parking system for nonholonomic mobile robot

This paper depicts the development of backward automatic parallel parking system for nonholonomic mobile robot. The configuration of the system consists of ultrasonic sensor, rotary encoder, controller, and actuators. The path planning algorithm is developed based on the data acquired from the sensor. The proposed idea of the path planning is based on the geometrical equations in which the needed information is referring to the distance between the mobile robot and the adjacent object. The ultrasonic sensor and rotary encoder respectively used to detect parking area and measure the detected space. A PIC32MX360F512L microcontroller is used in order to generate the algorithm and control the movement of the mobile robot. System implementation is briefly described to depict the system as a whole. Experimental results are presented to demonstrate and validate effectiveness of the technique used

Obstacle Avoidance for Vision-Based Automated Guided Vechicle (AGV) Using Shortest path Planning

This paper dscribes an obstacle avoidance technique for Automated Guided Vehicle (AGV)

Identification And Non-Linear Control Strategy For Industrial Pneumatic Actuator

In this paper, a combination of nonlinear gain and proportional integral derivative (NPID) controller was proposed to the trajectory tracking of a pneumatic positioning system. The nonlinear gain was employed to this technique in order to avoid overshoot when a relatively large gain is used to produce a fast response. This nonlinear gain can vary automatically either by increasing or decreasing depending on the error generated at each instant. Mathematical model of a pneumatic actuator plant was obtained by using system identification based on input and output of open-loop experimental data. An auto-regressive moving average with exogenous (ARMAX) model was used as a model structure of the system. The results of simulation and experimental tests conducted for pneumatic system with different kind of input namely step, sinusoidal, trapezoidal and random waveforms were applied to evaluate the performance of the proposed technique. The results reveal that the proposed controller is better than conventional PID controller in terms of robust performance as well as show an improvement in its accuracy

Vision-Based Navigation Of An Autonomous Guided Vehicle For Tracking

This project proposes a navigation control system for an Autonomous Guided Vehicle (AGV) by detecting and recognizing line tracking with USB (Universal Serial Bus) camera. In this project a commercial robot kit, a laptop computer and a USB camera are used as the main components of the system. The use of Microsoft DirectShow technique and COM programming, the USB camera will enable the system to obtain ' the digital images directly without using frame grabbers. This feature makes the system more economical and compact. The vision-based navigation system structure is composed of several processes such as grabbing images, track detection, fuzzy logic controller and' motor drive controller. During the navigation process, the AGV can recognize the straight and crossing track lines, detect the obstacle that might appear in the navigational path, calculate the position and orientation of the AGV. When the robot has confirmed its position and orientation, the fuzzy controller is used to keep the AGV on the track. This proposed navigation system only needs a minimum modification in implementing on any mobile robot platform that can be used in robotic research, education, laboratories, office environment and factory

Comparison of Fuzzy Control Rules using MATLAB Toolbox and Simulink for DC Induction Motor-Speed Control

This paper presents a fuzzy logic control for a speed control of DC induction motor. The simulation developed by using Fuzzy MATLAB Toolbox and SIMULINK. The fuzzy logic controller is also introduced to the system for keeping the motor speed to be constant when the load varies. Because of the low maintenance and robustness induction motors have many applications in the industries. The speed control of induction motor is more important to achieve maximum torque and efficiency. The result of the 3x3 matrix fuzzy control rules and 5x5 matrix fuzzy control rules of the theta and speed will do comparison in this paper. Observation the effects of the fuzzy control rules on the performance of the DC- induction motor-speed control

Model Identification And Controller Design For An Electro-Pneumatic Actuator System With Dead Zone Compensation

Pneumatic actuator system is inexpensive, high power to weight ratio, cleanliness and ease of maintenance make it’s a choice compared to hydraulic actuator and electromagnetic actuator. Nonetheless, the steady state error of the system is high due to the dead zone of the valve. In this paper, an Auto-Regressive with External Input (ARX) model structure is chosen to represent the pneumatic actuator system. The recursive least square method is used to estimate the model parameters. The pole-assignment controller is then developed for position tracking. To cater the problem of high in steady state error, the dead zone compensation is added to the system. The dead zone controller was designed based on the inverse dead zone model and the dead zone compensation designed based on the desired error. The proposed method is then experimentally with varies load and compares with Nonlinear PID controller. The result shows that the proposed controller reduced the overshoot and steady state error of the pneumatic actuator system to no overshoot and 0.025mm respectively. Index terms: System identification, recursive least square, ARX, dead zone compensator, pneumatic actuato

Active Suspension using Optimal Controller

The purpose of the project is to design controller for active suspension using optimal control method. In order to reach the main objective, the behavior of passive suspension is studied correspond to the different types of road surface. The controller will improve the ride quality and handling performance within a given suspension stroke limitation. The problems of passive control are excessive vertical wheel travel, non-optimum altitude of tire relative to road, also the force distribution of the suspension, resulting poor handling, body roll or body pitch when braking or accelerating and ride discomfort. This problem will be overcome by using active control suspension which the method chosen is optimal controller. The performance of this controller is determined by performing computer simulations using the MATLAB and SIMULINK. The results show that the active suspension system has reduced the peak overshoot of sprung mass displacement, sprung mass acceleration, suspension travel and tire deflection compared to passive suspension system