English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

The purpose of this study is to apply Fuzzy Logic Controller on a wheeled soccer robot to avoid the collision with other robots in the field. The robot equipped by an omnidirectional camera as a vision sensor, a mini-PC for the image processing device, a microcontroller to handle I/O system, and three wheel's omnidirectional mover system. Omni-camera produces four input-values namely: X coordinate ball position, Y coordinate ball position, distance, and angle from obstacle to point of interest in the camera frame. These inputs processed by a mini-PC and then forward to a microcontroller to calculate the output employ Fuzzy Logic Controller. The output variables are the movement rate of the robot in the X, and Y coordinate.  These outputs will be used by the kinematics controller to manage the speed of three Omni-wheels driving by DC motors with 24 volts of power. The experiment result shown that percentage of the robot can grab the ball is about 70% and around 80% for the robot avoiding the obstacle. This error probably influenced by the light factor in the field and the speed process from a microcontroller. Recalibrate the Omni-camera is the solutions to reduce this problem.

Obstacle Avoidance using Fuzzy Logic Controller on Wheeled Soccer Robot