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1、AutonomousrobotobstacleavoidanceusingafuzzylogiccontrolschemeWilliamMartinSubmittedonDecember4,2009CS311-FinalProject1.INTRODUCTIONOneoftheconsiderablehurdlestoovercome,whentryingtodescribeareal-worldcontrolschemewithfirst-orderlogic,isthestrongambiguityfoundinbothsemanticsande
2、valuations.Althoughoneoptionistoutilizeprobabilitytheoryinordertocomeupwithamorerealisticmodel,thisstillreliesonobtaininginformationaboutanagent'senvironmentwithsomeamountofprecision.However,fuzzylogicallowsanagenttoexploitinexactnessinitscollecteddatabyallowingforaleveloftoler
3、ance.Thiscanbeespeciallyimportantwhenhighprecisionoraccuracyinameasurementisquitecostly.Forexample,ultrasonicandinfraredrangesensorsallowforfastandcosteffectivedistancemeasurementswithvaryinguncertainty.Theproposedapplicationsforfuzzylogicrangefromcontrollingrobotichandswithsix
4、degreesoffreedom1tofilteringnoisefromadigitalsignal.2Duetoitseasyimplementation,fuzzylogiccontrolhasbeenpopularforindustrialapplicationswhenadvanceddifferentialequationsbecomeeithercomputationallyexpensiveoroffernoknownsolution.Thisprojectisanattempttotakeadvantageofthesefuzzyl
5、ogicsimplificationsinordertoimplementsimpleobstacleavoidanceforamobilerobot.2.PHYSICALROBOTIMPLEMENTATION2.1.ChassisandsensorsTheroboticvehicle'schassiswasconstructedfromanExcaliburEI-MSD2003remotecontroltoytank.Thedevicewasstrippedofallelectronics,gears,andextraneouspartsinord
6、ertoworkwithjusttheemptycaseandtwoDCmotorsforthetanktreads.However,thisleftasomewhatunevensurfacetoworkon,sohigh-densitypolyethylene(HDPE)rodswereusedtofillinemptyspaces.SinceHDPEhasaratherlowsurfaceenergy,whichisnotidealforbondingwithothermaterials,apropanetorchwasusedtoraises
7、urfacetemperatureandimprovebondingwithanepoxyadhesive.ThreeSharpGP2D12infraredsensors,whichhavearangeof10to80cm,wereusedfordistancemeasurements.Inordertomounttheseappropriately,a2.5by15cmpieceofaluminumwasbentintothreeevenpiecesat135degreeangles.ThisallowsfortheIRsensorstotaket
8、hreedifferentmeasurementsat45degreeangles(right,middle
