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

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

Sabrina Mohand Saidi, Rabah Mellah, Arezki Fekik, Ahmad Taher Azar
Copyright: © 2022 |Volume: 13 |Issue: 1 |Pages: 32
ISSN: 1947-959X|EISSN: 1947-9603|EISBN13: 9781799884378|DOI: 10.4018/IJSSMET.304818
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MLA

Saidi, Sabrina Mohand, et al. "Real-Time Fuzzy-PID for Mobile Robot Control and Vision-Based Obstacle Avoidance." IJSSMET vol.13, no.1 2022: pp.1-32. http://doi.org/10.4018/IJSSMET.304818

APA

Saidi, S. M., Mellah, R., Fekik, A., & Azar, A. T. (2022). Real-Time Fuzzy-PID for Mobile Robot Control and Vision-Based Obstacle Avoidance. International Journal of Service Science, Management, Engineering, and Technology (IJSSMET), 13(1), 1-32. http://doi.org/10.4018/IJSSMET.304818

Chicago

Saidi, Sabrina Mohand, et al. "Real-Time Fuzzy-PID for Mobile Robot Control and Vision-Based Obstacle Avoidance," International Journal of Service Science, Management, Engineering, and Technology (IJSSMET) 13, no.1: 1-32. http://doi.org/10.4018/IJSSMET.304818

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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.