Type-1 Fuzzy Pulse Width Modulation Controlled Motion Planning of Differential Drive 4-Wheeled Power Robot

摘要

In this article, we have designed and implemented a Type-1 Fuzzy Pulse Width Modulation (TFPWM) controller, which can autonomously control the motion, direction, and orientation of the differential drive 4-wheeled power robot in any working environment. This proposed TFPWM controller has three inputs (obstacle distances) and four outputs (motor PWM controlled velocities). The controller collects input data from the group of sensors (ultrasonic and infrared) and generates pulse width modulation (PWM) based velocity control command to all four motors of 4-wheeled power robot using if-then fuzzy rule-based model. This TFPWM controller helped the robot to avoid obstacles autonomously during navigation. Computer simulation results have done through the graphical user interface (GUI) platform of MATLAB software. Successful navigation results of differential drive 4-wheeled power robot in computer simulations verify the effectiveness and efficiency of the proposed controller. We have compared this TFPWM controller based simulation results with existing techniques and found better results in terms of simulation path length.