View article

This paper provides the design and implementation details of an autonomous, battery-powered robot that is based on Fuzzy Logic. The robot is able to follow a pre-defined path and to avoid obstacles, after avoiding an obstacle, the robot returns back to the path. The proposed system is divided into two main modules for path following and for obstacle avoidance and line search. Path following controller is responsible for following a pre-defined path, when an obstacle is detected, obstacle avoidance and line search controller is called to avoid the obstacle and then to return to the path. When the robot finds the path again, path follower controller is called.

LEGO Mindstorms NXT robot was used to realise the proposed design. The detailed design steps of the robot are provided for readers who are interested in replicating the design. For the implementation of the path following, Fuzzy Logic was employed. Fuzzy Logic controller takes the robot's light and ultrasonic sensory readings as input and sends commands to the robot motors to control the robot's speed and direction.