Fuzzy Logic Controlled Miniature LEGO Robot for Undergraduate Training System

Abstract

Abstract-Fuzzy logic enables designers to control complex systems more effectively than traditional approaches as it provides a simple way to arrive at a definite conclusion upon ambiguous, imprecise or noisy information. In this paper, we describe the development of two miniature LEGO robots, which are the line following and the light searching mobile robots to provide a better understanding of fuzzy logic control theory and real life application for an undergraduate training system. This study is divided into two parts. In the first part, an object sorter robot is built to perform pick and place task to load different colour objects on a fuzzy logic controlled line following robot which then carries the preloaded objects to a goal by following a white line. In the second part, an intelligent fuzzy logic controlled light searching robot with the capability to navigate in a maze is developed. All of the robots are constructed by using the LEGO Mindstorms kit. Interactive C programming language is used to program fuzzy logic robots. Experimental results show that the robots has successfully track the predefined path and navigate towards light source under the influence of the fuzzy logic controller; and therefore can be used as a training system in undergraduate fuzzy logic class.

Navigation and locomotion of a low-cost Automated Guided Cart

“…This is assumed to be due to the relatively low resolution of the system. Such a finding is supported by the work of Chang et al [9] on motor control as well as a line-following project by Azlan et al [10], which made use of a fuzzy-logic controller. Other types of controllers were not attempted in the model, as the PLC was limited to ladder programming and the built-in PID controller.…”

An undergraduate fuzzy logic control lab using a line following robot

“…A fuzzy logic controlled LEGO robot for undergraduate teaching is presented by Azlan et al [10]. In this paper, the study is divided into two parts: in the first part, objects were picked and loaded to a fuzzy controlled line following robot which carried the objects to a goal.…”

Implementing HOG & AMDF based shape detection algorithm for computer vision & robotics education using LEGO Mindstorms NXT

“…The incorporating of LEGO Mindstorms robotic development platform in engineering education is frequently reported recently in the literature [4][5][6][7][8][9]. MA TLAB is also widely used as a programming environment to fulfill the objective of the various courses.…”