Design and Implementation of Fuzzy Logic for Obstacle Avoidance in Differential Drive Mobile Robot

Abstract

Autonomous mobile robots based on wheel drive are widely used in various applications. The differential drive mobile robot (DDMR) is one type with wheel drive. DDMR uses one actuator to move each wheel on the mobile robot. Autonomous capabilities are needed to avoid obstacles around the DDMR. This paper presents implementing a fuzzy logic algorithm for obstacle avoidance at a low cost (DDMR). The fuzzy logic algorithm input is obtained from three ultrasonic sensors installed in front of the DDMR with an angle difference between the sensors of 45$^0$. Distance information from the ultrasonic sensors is used to regulate the speed of the right and left motors of the DDMR. Based on the test results, the Mamdani inference system using the fuzzy logic algorithm was successfully implemented as an obstacle avoidance algorithm. The speed values of the right and left DDMR wheels produce values according to the rules created in the Mamdani inference system. DDMR managed to pass through a tunnel-shaped environment and reach its goal without hitting any obstacles around it. The average speed produced by DDMR in reaching the goal is 4.91 cm/s.