1. Mobile Robot Fuzzy Control Matt Starzewski ECE 539 Project Spring 2001

2. ECE 539 Project • Wanted something that would be used after the course • was completed. Started on stocks, but was discouraged • by Prof. Hu. Besides, I needed a system with which I had • enough experience to be an "Expert".

3. Meet Tommy • Maze traversal robot • Pentium-class board • Side sensors measure angle • and distance from walls

4. Goal • Tommy needs AI to guide along walls •  Want to end up parallel with wall in moveFwd() function

5. Tommy's Brain • Maze-level AI • navigates through grid, • calls movement functions • Fuzzy Controller (FC) • controls movement, making • sure Tommy gets from A to B -- moveFwd()

6. System Summary • Sim Mode (using model) • fits motion very well, but still isn't the real thing • Run Mode (on Tommy) • get to see code in motion, but uptime is hard to come by

7. Sample Output (Sim Mode)

8. Tommy In Traction • Mostly hardware problems led to very limited testing • of the FC's "Run" mode. • Murphy's law: Hard drive crash, • batteries dying, • PWM chips burned out • Very time-consuming

9. Assessment -- Pros • Physical Application Very Rewarding • Good Topic selection; am an "Expert" • Plenty of Resources (i.e papers) available • on Fuzzy Control • Will be used by others

10. Problems I had • Realism takes Time! • formulating & fitting • accurate Model difficult • catch-22: must cope with unreliability • (downtime) in order to make system reliable • (robust control) • Spent way too many hours on: • Trying to Sim with Java Applet