Fuzzy-logic obstacle avoidance control: Software simulation and hardware implementation

Abstract

This paper presents a design technique for fuzzy-logic control (FLC) of a moving vehicle in order to avoid collision with obstacles in an unknown environment. The fuzzy system consists of ultrasonic sensors, fuzzy control algorithm, and a battery-driven car. A visual simulation program is constructed to facilitate the development of the linguistic fuzzy rules and to tune the shape of the membership functions. The software is implemented using a PIC microcontroller.