A FUZZY CONTROLLER FOR A MOBILE ROBOT WITH OBSTACLE AVOIDANCE

This research paper presents a mobile robot based on the MAMDANI fuzzy inference system. The is equipped with three pairs of HC-SR04 ultrasonic sensors to detect distance between and obstacles. A logic controller built into STM32F4 microcontroller platform generate actuation signal for DC motor mounted each wheel. To perform obstacle avoidance, sensor capable detecting must be installed so that can calculate determine appropriate control send robot's actuator. In achieving this goal, movements at constant speed or variable speed. When too far, fast. Then, as increases, decreases. Such mechanism implemented certain methods in controller. data obtained from are expressed linguistic variables indicate movement wheel sets. rule table designed achieve uninterrupted motion avoidance capability. Keywords: microcontroller, Fuzzy logic, system, robot, avoidance.