Abstract

AGUAS, Xavier et al. A Fuzzy-PD controller for wall-following of a mobile robot: experimental validation. Novasinergia [online]. 2019, vol.2, n.2, pp.49-57.  Epub Dec 10, 2019. ISSN 2631-2654.  https://doi.org/10.37135/unach.ns.001.04.05.

This article presents a Fuzzy-PD controller in order to solve the problem of wall following for a mobile robot. The performance of the proposed controller is compared to a classic PD controller through the analysis of the quadratic error integral index (ISE) and the total variation index of the control action (TV). For the design of the Fuzzy-PD controller, the distance between the mobile robot and the wall is measured through an ultrasonic sensor that has the mobile robot. In this work two tests were carried out with the objective of showing the effectiveness of each controller; a reference change of the tracking distance and the tracking of an unknown wall. The controllers were tuned by Particle Swarm Optimization (PSO) and implemented on the DaNI 2.0 platform through the use of LabView Robotics software.

Keywords : Fuzzy controller; mobile robot; PD controller; wall-following.

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