Online control of fuzzy based mine detecting robot using virtual instrumentation

摘要

This paper proposes the design of a micro-controller based fuzzy logic controller for a remote controlled mine detecting robot. In the real time applications the detection and location of bomb is highly essential in the field of defense applications. Considering the value of human life the robot is allowed in the field to detect the bomb. The mine detecting robot is designed with IR sensors, metal detector and GPS attached to it. The two DC motors are connected with the rear wheels of the robot. Differential drive is used to control the steering angle and the speed of the robot. Differential drive is implemented to control a robot with only two motorized wheels. The fuzzy logic controller is used for accurate steering angle and the driving speed of the robot. The designed controller has two loops with an Outer Fuzzy Speed Control Loop and an Inner Current Control Loop. Based on the current position and the set speed value, the steering angle and the speed of a mine detecting robot will be controlled. The software for both the client system and the robot is developed using Data socket protocol in LabVIEW. The motion of the robot is monitored by RF camera. The designed controller was implemented in a PIC 16F877A microcontroller and the results are documented. The mine is detected by metal detector and the location of the mine is known through GPS.