An automatic mobile robot obstacles avoidance in a static environment by using hybrid technique (fuzzy logic and artificial neural network) / Nur Hidayatul Nadihah Abd Wahab
This project is focusing on testing the performances of the E-puck mobile robot to avoid obstacles in a static environment. Fuzzy Logic (FL) and Artificial Neural Network (ANN) have been used to improve the performances of the robot in term of time and smoothness of its path. The objective of this p...
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| Format: | Thesis |
| Language: | English |
| Published: |
2014
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| Subjects: | |
| Online Access: | https://ir.uitm.edu.my/id/eprint/103049/1/103049.pdf |
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| Summary: | This project is focusing on testing the performances of the E-puck mobile robot to avoid obstacles in a static environment. Fuzzy Logic (FL) and Artificial Neural Network (ANN) have been used to improve the performances of the robot in term of time and smoothness of its path. The objective of this project is to design an autonomous mobile robot that can avoid obstacles in three different complexities of environment. Fuzzy logic is used to create rules of avoiding obstacles. The rules consist of the input from Infrared (IR) sensor and the output is from the speed of robot motor. Then the output is fed into ANN for training process to get better performance. The result shows that the objective of this project is successfully achieved. The overall performances of the E-puck robot show that integration between these controllers capable to reduce the time taken by the robot avoiding the obstacles. Furthermore, the path is more accurate. |
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