Design and implementation of adaptive fuzzy PD line following robot

Abstract

Line following robot is a basic autonomous robot that detects line and follow it autonomously. Because of its simple design and low cost, line following robots play important role and these robots have been widely used in different areas like warehouse operations, self-driving cars, student competitions etc. The design of line following robots can be basic or sophisticated depending on mission requirements, hardware used and programming capabilities. There are a limited number of methods that are used to control the line following robots independent from sensor system structures. In this study, PID-based approaches and fuzzy-based control approaches which are widely used in the literature are compared and a hybrid control approach is discussed. To demonstrate the success of the hybrid control method, a line follower robot is designed and then PD and fuzzy-based control approach is implemented orderly. Finally, Adaptive Fuzzy PD Controller as a hybrid control methodology is implemented and success of the approach is discussed. It is demonstrated that Adaptive Fuzzy PD Controller as hybrid control approach has better results than the common control approaches in the literature especially by using the low power, cost effective processors.