Fuzzy controller for obstacle avoidance in robotic manipulators using ultrasonic sensors

Abstract

An application of a supervision system made up of ultrasonic sensors and fuzzy logic is presented. In fact, the combination of both technologies permits us to endow the robot with capacity to detect presence of an obstacle in a dynamic environment and to decide if an alternative path is necessary. Furthermore, given that the echo signal data can be used to obtain an approximation of position, direction of movement and velocity of the object, the fuzzy controller can be used to select "a secure point", changing the current trajectory.