Orientation (Yaw) Fuzzy Controller Applied to a Differential Drive Mobile Robot Prototype for Indoor and Outdoor Applications

Renan Moreira Pinto¹; Andres Eduardo Baquero Velasquez¹; Henry Borrero Guerrero¹; Vitor Akihiro Hisano Higuti¹; Daniel Varela Magalhães¹; Rafael Vidal Aroca²; Arthur Porto¹; Marcelo Becker¹

¹ Universidade de São Paulo - EESC; ² Universidade Federal de São Carlos - Departamento de Engenharia Mecânica

doi:10.20906/CPS/COB-2015-0461

Resumo

This paper describes the development and implementation of an embedded Fuzzy Controller for a differential drive mobile robot prototype. This prototype was designed for indoor and outdoor applications. When it comes to the controller, it was designed for keeping a desired orientation angle along the robot forward displacement. In our approach we used a high and a low level of control. The high level corresponds to a closed loop fuzzy control system that receives orientation data and it calculates the actuators required velocities. On the other hand, the low level controller is responsible for receiving the desired velocities data from the high level controller in order to perform the directly drive of the actuators using PWM (Pulse Width Modulation) signals. In addition to this, the prototype has an IMU (Inertial Measurement Unit) embedded that is used to measure the vehicle orientation and encoders have also been added in order to measure the wheels speed (in RPM - Revolutions per Minute).

Palavras-chave: : Orientation Control; Fuzzy logic controller; embedded systems; Inertial measurement unit; Android; Bluetooth; Differential drive mobile robot prototype; App Inventor 2