A Comparison of Fuzzy Logic Controller and PID Controller for Differential Drive Wall-Following Mobile Robot

This paper presents a comparison between PID controller and Fuzzy rule based controller of a differentially steered wall following mobile robot. Four different maps, generated using Mapper3 software are used to simulate the robot in MobileSim platform. The code was implemented using C++ language in...

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Bibliographic Details
Published in2019 14th Conference on Industrial and Information Systems (ICIIS) pp. 523 - 528
Main Authors Ratnayake, R.M.N.B., de Silva, T.S., Rodrigo, C.J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2019
Subjects
Fuzzy
multi-type-wall
PID
sonar sensors
wall following
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Summary:This paper presents a comparison between PID controller and Fuzzy rule based controller of a differentially steered wall following mobile robot. Four different maps, generated using Mapper3 software are used to simulate the robot in MobileSim platform. The code was implemented using C++ language in ARIA development package. The robot simulation is performed with Pioneer P3-DX robot. In this study, the data was collected for each cases such as: left wall following and right wall following. In order to validate the results, maximum of 40 runs were conducted for each map and the results were compared with the illustrated methods.
DOI:10.1109/ICIIS47346.2019.9063333