PD-Fuzzy control for the velocity of mobile robot using the haptic joystick

Abstract

In this paper, the mobile robot attached ultrasonic sensor, it can be obtained from measured ultrasonic sensor data according to the distance of obstacle using haptic joystick, it can be precisely controlled the velocity of mobile robot. The haptic is that can be composed vibration at the bottom of the joystick to attach small motor, the haptic can be implemented using the voltage of motor change according to the distance information from ultrasonic sensor. It composed the master (Haptic joystick) and slave (mobile robot) for the experiment. We studied the velocity of mobile robot control.