Application of Hybrid Fuzzy PID Controller for Mobile Robot

• Main Authors: Wei-Xiang Chen, 陳暐翔
• Other Authors: Chia-Der Chang
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/jg6k3m

碩士 === 明志科技大學 === 電機工程系碩士班 === 104 === The paper proposes Fuzzy PID controller scheme for the performance improvement of a mobile robot. The robot is equipped with a single chip processor, a Infrared ray sensor （CNY70）, supersonic wave sensors, and direct-current （DC） motor drives. The guidance of the mobile robot is by way of the detection of the black tapes that are arranged on the ground. Combining the traditional PID controller with the Fuzzy logic Controller to form a Fuzzy PID controller, We fulfill not only the robot movement of walking and turning, but also the avoidance of obstacles on the path. Through experiment it can be found that the proposed control method can let the mobile robot avoid the obstacle smoothly and also demonstrate the improvement of its dynamic response.