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A FUZZY LOGIC CONTROL SYSTEM FOR A MOVING

OBJECT TO AVOID OBSTACLES

ABSTRACT

Robotics applications require high dexterity and dynamic response.

Dynamic of a moving object is related to unknown motion path. The motion of the

target will be varying with respect to time. It is difficult to describe dynamic

motion with a single equation. This paper proposes a fuzzy logic prediction system

improve the performance of motion tracking system. The dynamic models of a

moving target are replaced with set of fuzzy inference rules. A Fuzzy Prediction

System (FPS) is introduced. This Fuzzy Logic Controller comprises of two layers

in a cascaded form. The first layer is responsible for coarse step prediction. The

second layer is responsible for fine step correction. This proposed Fuzzy Logic

controller was tested with computer simulation. It was implemented and evaluated

by a real time imaging system utilizing an inexpensive webcam. The proposed

system was tested with an object moving at about 400 mm/sec. Correlation

between the measured path and predicted path has been investigated. From this

study, it was found that that system is capable of predicting a target motion path; a

correlation result of approximately 0.97 was achieved.

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