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Hybrid Intelligent Systems in Control, Pattern Recognition and Medicine pp 315–325Cite as

Implementation of a Fuzzy Controller for an Autonomous Mobile Robot in the PIC18F4550 Microcontroller

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Part of the book series: Studies in Computational Intelligence ((SCI,volume 827))

Abstract

Soft Computing has been gaining popularity in real world applications in many fields, an example of the area that has a wide variety of applications of these techniques is the Robotics area. In this work, we introduce the design of a hardware system for an autonomous mobile robot and the development of a Fuzzy Logic Controller for the control of the motion of a robot to follow a trajectory. We consider the error in the distance to the path as the unique input to the fuzzy controller and as the outputs, the linear velocity of each of the two wheels of the robot. We also show the development of the firmware in the PIC18F4550 microcontroller as the implementation of the Fuzzy Logic Controller.

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Authors and Affiliations

  1. Tijuana Institute of Technology, Tijuana, BC, Mexico

    Oscar Carvajal & Oscar Castillo

Authors
  1. Oscar Carvajal
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  2. Oscar Castillo
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Corresponding author

Correspondence to Oscar Castillo .

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Editors and Affiliations

  1. Division of Graduate Studies and Research, Tijuana Institute of Technology, Tijuana, Baja California, Mexico

    Oscar Castillo

  2. Division of Graduate Studies and Research, Tijuana Institute of Technology, Tijuana, Baja California, Mexico

    Patricia Melin

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Carvajal, O., Castillo, O. (2020). Implementation of a Fuzzy Controller for an Autonomous Mobile Robot in the PIC18F4550 Microcontroller. In: Castillo, O., Melin, P. (eds) Hybrid Intelligent Systems in Control, Pattern Recognition and Medicine. Studies in Computational Intelligence, vol 827. Springer, Cham. https://doi.org/10.1007/978-3-030-34135-0_22

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