Real-Time Fuzzy-PID for Mobile Robot Control and Vision-Based Obstacle Avoidance

Sabrina Mohand Saidi, Rabah Mellah, Arezki Fekik and Ahmad Taher Azar
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Sabrina Mohand Saidi: L2CSP Laboratory, Algeria
Rabah Mellah: L2CSP Laboratory, Algeria
Arezki Fekik: Akli Mohand Oulhadj University, Bouira, Algeria & Electrical Engineering Advanced Technology Laboratory (LATAGE), Mouloud Mammeri University, Tizi-Ouzou, Algeria & Automated Systems and Soft Computing Lab (ASSCL), Riyadh, Saudi Arabia
Ahmad Taher Azar: College of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi Arabia & Faculty of Computers and Artificial Intelligence, Benha University, Benha 13518, Egypt

International Journal of Service Science, Management, Engineering, and Technology (IJSSMET), 2022, vol. 13, issue 1, 1-32

Abstract: In this work, the differential mobile robot is controlled utilizing fuzzy PID speed control, which combines fuzzy control with conventional PID control in real time. The path may be convoluted, and the surrounding environment may contain a range of arbitrary shape and size obstacles. A monocular camera is used to detect obstacles during the navigation process. To enable a robot to travel within an indoor space while avoiding obstacles, a basic image processing approach based on area of interest was used. The goal of this research is to develop a fuzzy PID speed controller on a real robot, as well as a simple and efficient visual obstacle avoidance system. MATLAB is used to implement the control system. GUIDE (graphical user interface development environment) has enabled the creation of graphical user interfaces. These interfaces make it easy to manipulate the system in real time and capture live video. The proposed methodologies are tested on a non-holonomic dr robot i90 mobile robot, and the results are satisfactory.

Date: 2022
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