Application of Fuzzy Logic Algorithm for Steering Assist Control of Mobile Robots
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Abstract
This paper presents the application of a fuzzy logic algorithm for steering assist control of mobile robots using CoppeliaSim EDU and Python programming. CoppeliaSim EDU is a simulation software capable of modeling the operation of mobile robots. The experiment used a model of a mobile robot with a four-wheel drive system and radar sensors for measuring angles and distances to obstacles, which serve as inputs to the fuzzy logic algorithm. The fuzzy logic algorithm utilizes the TSK (Takagi-Sugeno-Kang) method. The algorithm processes these inputs to generate outputs as steering assist angles for the mobile robot, to be used in conjunction with manual control. In this experiment, the condition was that the human operator did not manually control the steering. The experimental results showed that the mobile robot was able to steer around obstacles effectively.
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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
Copyright @2021 Engineering Transactions
Faculty of Engineering and Technology
Mahanakorn University of Technology
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