Line follower simulator with fuzzy control

摘要

A Matlab program to simulate the Line Following Robot was developed as a didactic tool to learn the theory of fuzzy control. The Simulink environment is used to model the dynamics of mobile and the fuzzy controller, and a Script is used to model the line form and the deviation of the mobile from the line. The Simulator allows evaluating the performance of Proportional-Derivative (PD) Fuzzy Control by tuning the parameters of the controller and the speed of mobile. The PD Fuzzy Control shows a little better performance compared with a Proportional Derivative control. Each wheel of the mobile is modeled as a first order dynamic system. The parameters of mobile as the distance between wheels, the position of the sensor can be modified easily.