A Practical Fuzzy Logic Controller for Sumo Robot Competition
This paper describes the design of fuzzy logic based sumo wrestling robot. The designed robot has a simple control algorithm and single fuzzy microcontroller is used in hardware implementation. The designed robot meets the specifications needed to compete
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Abstract. This paper describes the design of fuzzy logic based sumo wrestling robot. The designed robot has a simple control algorithm and single fuzzy microcontroller is used in hardware implementation. The designed robot meets the specifications needed to compete in a sumo robot competition. The main difference of the designed system with earlier sumo robots is in control algorithms. A simple fuzzy logic controller is developed for detection and tracking of opponent in competition ring. Three infrared (IR) sharp sensors are used for target detection. Fuzzy microcontroller fuses the sensor data’s and provides the necessary control signal to motors for heading robot toward the opponent. The fuzzy rules were optimized for the best results possible in software which are loaded in fuzzy controller. The implemented control algorithm shows better performance and executes the opponent detection algorithm in less time in comparison with conventional sumo robot algorithm. Design procedure and experimental results are presented to show the performance of the intelligent controller in designed system.
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Introduction
Mobile robots provide an attractive platform for combining mechanical, electronic, computer, control and communication systems to create an integrated system for education and research. Mobile robots are mechanical devices capable of moving in an environment with a certain degree of autonomy. Autonomous navigation is associated with the availability of external sensors that capture information from the environment through different sensors. Motion autonomy in robotics may be defined as the ability for a robot to perform a given movement without any external intervention. Performing the task in best way is depended on performance of sensors and control algorithm. Fuzzy logic controller (FL) as nonlinear control method is used for sensor outputs reasoning and control of robot navigation in many works. FL is used to overcome the difficulties of modeling the unstructured, dynamically changing environment, which is difficult to express using mathematical equations [1,2,3]. Fuzzy logic is simple sensor fusion method for combining sensor outputs. Sumo wrestling robot is one of important field to attract student attention for engineering science. The Sumo Robot competition has become more popular around the world [4,5]. Similar to traditional sumo wrestling, the main objective is to force the competitor out of the A. Ghosh, R.K. De, and S.K. Pal (Eds.): PReMI 2007, LNCS 4815, pp. 217–225, 2007. c Springer-Verlag Berlin Heidelberg 2007
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ring while staying in the ring. In sumo robot competition an autonomous mobile robot tries to find the opponent inside the wrestling board by using different sensors and force the opponent robot out of the ring. There are two main factors which effect wrestling result, faster opponent detection and applying more force to competitor.This work suggests FLC solution for first factor. This paper describes the design of a fuzzy logic controlled (FLC) sumo robot with considering the specifi
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