Volume 6 Number 2 (Apr. 2014)
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IJCEE 2014 Vol.6 (2): 127-131 ISSN: 1793-8163
DOI: 10.7763/IJCEE.2014.V6.808

Fuzzy Logic Based Real Time Obstacle Avoidance Controller for a Simplified Model of Hexapod Walking Robot

Umar Farooq, Muhammad Usman Asad, Muhammad Amar, Athar Hanif, and Syed Omar Saleh
Abstract—This paper describes the design of an intelligent controller based on fuzzy logic for hurdle avoidance task in hexapod walking robot. The controller takes input from two ultrasonic sensors mounted in front of the robot. The outputs from the controller are translated into servo motor commands for movement of legs. The controller is designed using Fuzzy Logic Toolbox of MATLAB and its implementation is realized with a cheap, readily available AT89C52 microcontroller. Experimental results obtained after testing the controller in an environment containing obstacles has proved its validity. The design is low cost and can be used as demonstration tool for teaching concepts of soft computing algorithms.

Index Terms—Fuzzy logic controller, hexapod walking robot, SRF04 ultrasonic sensors, AT89C52 microcontroller.

Umar Farooq is with Department of Electrical Engineering, University of The Punjab Lahore (e-mail: engr.umarfarooq@yahoo.com).
Muhammad Usman Asad is with Department of Electrical Engineering, The University of Lahore (e-mail: usmanasad01@hotmail.com).
Muhammad Amar is with Department of Electrical Engineering, University of The Punjab Lahore (e-mail: amar.ete611@yahoo.com).
Athar Hanif is with Department of Electrical Engineering, The University of Lahore (e-mail: athar.hanif@ee.uol.edu.pk).
Syed Omar Saleh is with Department of Electrical Engineering, University of The Punjab Lahore (e-mail: omar_saleh81@yahoo.com).

 

Cite:Umar Farooq, Muhammad Usman Asad, Muhammad Amar, Athar Hanif, and Syed Omar Saleh, "Fuzzy Logic Based Real Time Obstacle Avoidance Controller for a Simplified Model of Hexapod Walking Robot," International Journal of Computer and Electrical Engineering vol. 6, no.2, pp. 127-131, 2014.

General Information

ISSN: 1793-8163 (Print)
Abbreviated Title: Int. J. Comput. Electr. Eng.
Frequency: Quarterly
Editor-in-Chief: Prof. Yucong Duan
Abstracting/ Indexing: EI (INSPEC, IET), Ulrich's Periodicals Directory, Google Scholar, EBSCO, ProQuest, and Electronic Journals Library
E-mail: ijcee@iap.org

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