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TL-PR
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Design and development of a mobile robot for implementing obstacle avoidance
techniques based on fuzzy logic and vision
Ali Ravari1, Mehdi Tale Masouleh2*
1-Department of Electrical and Computer Engineering, Semnan Science and Research Branch , Islamic Azad University Semnan, Iran
2- Human and Robot Interaction Laboratory, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran
* P.O.B. 14395-1561, Tehran, Iran, [email protected]
ARTICLE INFORMATION
ABSTRACT
Original Research Paper
Received 06 January 2016
Accepted 09 February 2016
Available Online 20 April 2016
This article presents the mechanical design process of a mobile robot which is named TL-PR. Two
separate algorithms are applied for obstacle avoidance purpose that are experimentally implemented on
the proposed robot. The control board Arduino which is used for the under study robot is an open source
board. In order to receive the images that are used for obstacle detection and obstacle avoidance a
Kinect sensor is installed in the proposed robot. The structure of TL-PR is a creative, simple and low
cost structure. Two methods are implemented on the proposed robot for obstacle avoidance. The first
one is based on ultrasonic sensor. Five ultrasonic sensors are set around the proposed robot structure.
The fuzzy control is used to manage the output data of the ultrasonic sensors and the rules of the fuzzy
control are set on the matlab software. The second method which is used for obstacle detection and
avoidance is based on image processing algorithm. A Kinect sensor is set on the top of the robot
structure for image processing to detect the obstacles. The second method consists of processing the
visual studio software and it run based on the OpenCV library. The proposed robot is a desirable
platform for the @home robots. The laptop, which is set on the robot made the robot compatible for
implementing the various control and image processing algorithms.
Keywords:
Mobile robot
Kinect
OpenCV
Arduino
Fuzzy method
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Please cite this article using:
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A. Ravari, M. Tale Masouleh, Design and development of a mobile robot for implementing obstacle avoidance techniques based on fuzzy logic and vision, Modares Mechanical
Engineering, Vol. 16, No. 4, pp. 271-280, 2016 (in Persian)
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Fig. 1 Block diagram of TL-PR robot
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Fig. 2 TL-PR robot, designed in Human and Robot Interaction
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1- Path planning
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4- Present robots
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Fig. 3 Block diagram for image processing system with fuzzy control
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Fig. 4 Run algorithm1 and obtained depth image from Kinect
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Algorithm. 1 Pseudo-code for image processing algorithm
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Algorithm. 2 The Pseudo-code for Arduino.
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Fig. 7 Output fuzzy system from motor right voltage
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Fig. 8 Surface fuzzy logic system for sensor1 and sensor2
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Algorithm. 3 The pseudo-code for fuzzy logic
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Fig. 9 Surface fuzzy logic system for sensor1 and sensor2
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3- http://taarlab.com/files/ravari.mp4
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Fig. 10 The path generated by TL-PR robot when one
obstacle is detected
Fig. 11 The path generated by TL-PR robot when two
obstacles is detected
TL-PR
TL-PR
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Table. 1 Fuzzy rules used in fuzzy algorithm
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Sens1
Sens2L
Sens3R
Sens4L
Sens5R
MotorR
MotorL
non
detect
non
detect
non
detect
non
detect
non
detect
non
detect
non
non
detect
non
detect
non
non
non
non
non
non
non
non
non
blind
blind
blind
detect
non
detect
non
non
detect
detect
detect
detect
blind
detect
detect
blind
non
non
non
detect
non
detect
non
non
non
detect
non
detect
detect
non
non
detect
detect
non
non
non
blind
non
non
non
non
non
non
non
blind
detect
non
non
detect
non
detect
non
blind
non
blind
blind
detect
detect
non
non
non
non
non
non
non
detect
non
detect
non
detect
detect
non
detect
non
non
detect
non
non
non
blind
non
non
non
non
non
detect
blind
non
non
detect
non
detect
detect
non
non
blind
blind
detect
blind
detect
non
non
non
detect
detect
non
non
non
detect
non
non
detect
detect
non
detect
non
detect
detect
blind
non
non
non
non
blind
non
non
non
non
blind
detect
detect
non
detect
non
non
detect
blind
non
blind
blind
detect
detect
non
non
detect
non
non
non
detect
non
non
non
detect
non
detect
detect
detect
detect
detect
non
non
non
non
non
non
non
non
blind
non
detect
blind
non
non
detect
non
detect
non
detect
non
blind
blind
detect
blind
detect
fast
normal
fast
stop
fast
normal
fast
stop
fast
normal
fast
stop
normal
fast
normal
normal
stop
fast
stop
normal
stop
normal
normal
stop
normal
normal
stop
normal
Stop
Stop
Fast
normal
Stop
normal
normal
normal
Stop
normal
Stop
Stop
normal
Stop
fast
stop
fast
normal
fast
stop
fast
normal
fast
stop
fast
normal
normal
fast
stop
stop
normal
fast
normal
normal
normal
stop
normal
normal
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stop
normal
stop
stop
normal
fast
stop
normal
stop
stop
stop
normal
stop
stop
normal
stop
stop
" " ""
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