e-ISSN 2231-8542
ISSN 1511-3701

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Implementation of a Fuzzy-Based Line Follower Robot using Arduino

Mohammad Safwan Mohamed Alias, Ya'akob Yusof and Nurul Muthmainnah Mohd Noor

Pertanika Journal of Tropical Agricultural Science, Volume 25, Issue S, April 2017

Keywords: Arduino, Fuzzy Inference System, fuzzy logic, line follower robot, Matlab

Published on: 21 Dec 2017

Applying an intelligent system means the machine is capable of making its own unique decision. Fuzzy logic is a form of logic that acknowledges other forms of true and false values. With fuzzy logic, propositions may be diagrammatic with degrees of truthfulness and falsehood. The main aims of this study are to demonstrate the method to apply fuzzy logic in a structure that uses Arduino as its brain, and apply it in a line follower mobile robot's decision making algorithm. This mobile robot consists of two front wheels and a nub caster at the back. It uses a line follower array that consists of eight infrared (IR) sensors. The system control is based on the input from IR sensors, which measures the intensity of light reflected by the track. Data were then transmitted to the microcontroller and will then be sent the correct command to the motor driver so that the trail can be followed. The performance of the line follower robot when using the fuzzy logic algorithm was compared to the line follower algorithm, which uses simple if-else commands. Analysis is primarily on the time taken to complete the track, along with the behaviour of the robot while manoeuvring. From the results, fuzzy logic is shown to provide a better performance in terms of the time taken to complete the track compared to the other set of rules. In addition, from the video recordings, fuzzys are moving smoother as compared to the non-fuzzy logics.

ISSN 1511-3701

e-ISSN 2231-8542

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