An Experimental Study on Controlling and Obstacle Avoidance of a Four Mecanum Wheeled Robot

摘要

This paper presents the process of designing a Fuzzy-PID controller and its implementation on a four Mecanum-wheeled robot. The aforementioned robot can be controlled manually and autonomously. A remote joystick is used for manual controlling of the robot under study. The Fuzzy-PID controller is applied in order to synchronize the proposed robot motors. In the aforesaid controller, the Fuzzy logic are used as tuner of the PID controller coefficients. According to the experimental results, which are obtained based on implementing the proposed Fuzzy-PID controller on the designed four Mecanum-wheeled robot, the proposed controller performance in terms of synchronizing the aforementioned robot's Dc-encoder motors is acceptable. The deviation value of the robot from the desired path is reduced significantly. Furthermore, based on implementing the proposed Fuzzy-PID controller on the robot under study, its the performance in term of steering is improved. Moreover, for the obstacle avoidance task, based on the ultrasonic sensors which are set on the proposed robot, the Fuzzy logic are used. The experimental results revealed that the aforementioned robot performance in terms of obstacle avoidance based on the Fuzzy logic implementation by means of ultrasonic sensors is acceptable. The robot passes the obstacles based on the defined safe distance accurately.