XIII SIMPOSIO DE TRATAMIENTO DE SEÑALES, IMÁGENES Y VISIÓN ARTIFICIAL.

STSIVA 2008

Mobile Robot Using Adaptable Fuzzy Control

on a Digital Signal Processor
Adolfo Avila Barón
aavila@ustatunja.edu.co, avilabar@gmail.com

Abstract—There are different forms to design adaptive
fuzzy controllers applied to robotic systems, this work
changes the traditional methods like the common “Fuzzy
Model Reference Learning Controller” FMRLC, see[1] -
[2], which is supported in change of rule base to modify
the controller parameters. Here the purpose is to maintain
constant the rule base and change fuzzy sets size to control
a robot tricycle named FUZZYBOT, also presents figures
with five fuzzy sets inputs and four fuzzy sets outputs,
universe to these sets are modify to produce others fuzzy
sets according to objects around the robot; on the other
hand, motors’ robot also change its rotation to avoid crash
always controlled by fuzzy logic system. There are shown
statistical probes in order to compare numerical examples
of how the performance of the controller purposed on
relate to others conventional controllers in real systems
using this robot.
Terms—Adaptive fuzzy control, fuzzy sets, intelligent
control.
rotation it selves to the sense objects around”. Then the
adaptive controller is therefore “intuitively” a controller that
can modify its movement behaviour according the
environment (number of objects and their distance).
FUZZYBOT is assembled by two ultrasonic sensors, these
are located on the frontal panel, it has two servo motors
reformed to do left and right completely rotations, this robot
use a emission circuit and a reception circuit supported by a
micro controlled target and DSP evaluation target [3].
Devices able to run speedily programs have been
developed, these are “the Digital Signal Processors” DSPs, its
main characteristics are: micro size and processing millions
instructions per second. It has many resources, for example:
serials communications, parallel ports, PWM, timers.
Associate DSPs with intelligence artificial algorithms has
many advantages; just as run freely these programs without
computers or stronger processors, and then, these systems
could be probed easily on robotics applications.

I. INTRODUCTION
II. ADAPTIVE FUZZY LOGIC SYSTEM
The robotics in this moment is an important area for
different fields of science; there are many applications using Known the characteristics of FUZZYBOT, the main
robots, especially at the factories, on electro medicine and objective of this work is to achieve a free movement robot on
home services. The programs on these classes of devices are a plain area with objects inside, motors’ robot have to control
also important too. Artificial intelligence allows to develop this device through DSP orders avoid crashes, for this goal,
efficiently algorithms for robotics, for example: fuzzy logic, we have to design a AFLS “Adaptive Fuzzy Logic System”
neuronal links and genetics algorithms. But currently many algorithm. This objective permits us to deduce that the objects
application uses on theirs controller’ programs fuzzy logic distance is the most important variable like the motors
algorithms; this theory has been proved over different movements, then on our AFLS, distance is the input variable
applications, especially when the control is no linear, see [1]- and motors’ movement is the output variable.
[2]. Fuzzy logic can be described as computing with words
rather than numbers, and fuzzy control can be described as
control with sentences. It is more natural to use sentences, or
rules, for instance operator controlled plants, with the control
strategy written in terms of if-then clauses. This work presents
a new fuzzy control strategy without human intervention, this
is an adaptive fuzzy control applied in a robotic system named
FUZZYBOT. Then, it has an adaptive behaviour, this
characteristic is supported over the changes of its algorithms,
it
means to modify the program according to changing some Fig. 1. fuzzy model reference learning controller
environments circumstances, for example: “adapted its motor
 XIII SIMPOSIO DE TRATAMIENTO DE SEÑALES, IMÁGENES Y VISIÓN ARTIFICIAL. STSIVA 2008

There are different types of AFLS, the first adaptive fuzzy

controller called the linguistic self-organizing controller
(SOC), see [1]; several applications of this method have been
presented. Other type of AFLS is the “fuzzy model reference
learning controller” (FMRLC)see , see fig. 1, on many
applications they have shown this method to be quite
successful. There are other adaptive fuzzy Controllers, for
example the WSAFC Wang adaptive fuzzy controller which
use Lyapunov theorem, see [4], [5]. All these methods are Fig 4. Fuzzy sets outputs
based on ruler changes (if-then, ver fig.2) and no proof
completely that these will result in a stable closed-loop system
especially for safety-critical systems. IV. RULE BASE

This rule base showing in figure 5, was finding by order to

robot has to effect movements according of objects distance,
example, if it is placed in front to a wall its motors have to
execute a go back rotation, if the robot has its sensors Very
Closed VC or near of the wall its movements’ motors have to
be Small Negative SN.

Fig. 2. Adaptive fuzzy Control and linguistic rulers

II. FUZZY SETS INPUTS AND OUTPUTS

To introduce in this fuzzy logic system is important to

know the constitutive parts of FUZZYBOT, it permits related
Fuzzy logic systems with fuzzy sets design, see [6]. The
sensors’ robot are charge to measure distance, then,
correspond to different distances one fuzzy set input as shown
in fig. 4, there are five fuzzy sets; the first correspond to
objects sense near (0 to 30 cm), other intermediately three
fuzzy sets are used to sense middle distance (30 to 50 cm),
Fig. 5. Rule base
and the fuzzy set placed on right side sense objects to far
distance (50 to 250 cm).
V. FUZZYBOT’ ADAPTIVE FUZZY CONTROL
Very Close
Change input fuzzy sets size against to change rule base[7]
Close
[8], is another form to fuzzy control system, apply to
Middle
FUZZYBOT has produced interesting results, see [9], robot
Far
achieve maximum approximation near to objects without
Very far
crashes, it is possible if input fuzzy sets depending each
situation, change their Size seems as fig. 6.

Fig. 3. Fuzzy sets inputs

Outputs are building through Weighted Average method

and correspond to singleton shape; there are four sets, fig. 3.
Small Negative
Zero
Small Positive
Big Positive. Fig. 6. Example of changes on fuzzy sets inputs
 XIII SIMPOSIO DE TRATAMIENTO DE SEÑALES, IMÁGENES Y VISIÓN ARTIFICIAL. STSIVA 2008

VI. STATISTICAL ANALYSIS TABLE III

P-VALUE PROVES.
If the experiment is successful, FUZZYBOT has to do free Proves Anderso Ryan- Kolmogoro
movements without crashes, maximum risk of crash happen n –Darling Joiner v
when robot is enclosed, this case is similar to find the robot is Smirnov
going to a corner (probe area, see fig 7), if robot has an P-Value
efficiently algorithm, it effects the maximum approach and go Areas 0.086 0.100 1.150
back. This experimental case was proved generating following AFLS
results: P-Value
0.050 0.100 0.150
Time AFLS
P-Value
Área
0.127 0.100 0.150
proportiona
l system
P-Value
Time
0.368 0.100 0.150
proportiona
l system
P-Value
0.2.75 0.100 1.150
Areas FLS
P-Value
0.012 0.100 0.150
Time FLS

This is a statistical comparison with both areas, (AFLS and

FLS).
Fig. 7. Prove area

95% CI for difference: (-18,2208; -16,4284)

Using an adaptive fuzzy control Robot describes
T-Test of difference = 0 (vs not =): T-Value = -38,37 P-
approximate a straight path, since start point to goal point.
Value = 0,000 DF = 97
Using a Classical fuzzy control Robot follows the wall until
the goal, path is similar to a curve.
This is a statistical comparison with both times (AFLS and
FLS).
TABLE I.
STATISTICAL PROBES USING CLASSICAL FUZZY LOGIC CONTROL. 95% CI for difference: (-2,13232; -1,52208)
Area FLS Time FLS T-Test of difference = 0 (vs not =): T-Value = -11,89 P-
Value = 0,000 DF = 95
Average 42,2 13,5
Stand.
2,30124936 0,7912893 These comparison proves presents a P-Value=0,00. These
Desv.
values indicate a big difference between each average value,
then, deduce that these values correspond to parametric
Table I and II, show results about area between of ideal
statistical; it concludes the follow results: to FUZZYBOT is
path and robot path, here we see less area and time use
better to use adaptive fuzzy control on comparison with other
adaptive Fuzzy control on comparison with classical Fuzzy
classical fuzzy systems control or proportional controls,
control.
because areas are similar than ideal and spend less time.
TABLE II.
STATISTICAL PROBES USING ADAPTIVE FUZZY LOGIC CONTROL.
Area AFLS Time AFLS VII. CONCLUDING REMARKS
Average 24,8 11,7
Adaptive fuzzy logic system programmed on FUZZYBOT,
Stand.
2,304176333 0,700644135 controls it without crash when the number of objects and their
Desv.
places on a plain area are aleatory, it is done by input
evaluation on adaptive control, system generates a constant
This values are valid on parametric statistical, if they
value (crisp set), how their rule base is also constant, this fact
complete normality prove, then, we could to conclude about
facilitates to change fuzzy to do an effective control.
this results. For instance if a P-Value is bigger than 0,005
these values studied wholly follow a statistical parametric.
 XIII SIMPOSIO DE TRATAMIENTO DE SEÑALES, IMÁGENES Y VISIÓN ARTIFICIAL. STSIVA 2008

Classical fuzzy controller parameters are changed to
achieve adaptive characteristics on the fuzzy system, this
design is based on Velásquez, F. Torre, C. Muñoz y C. Shene
work, they change output sets size to control a plant;
successful results obtained on this control permit us
continuing working with this class of adaptive fuzzy control,
see [10], [11].
[19] AYANNA, Howard, & HOMAY-OUN Seraji, & TUNSTE Edward l. A
Rule-Based Fuzzy Traversability Index for Mobile Robot Navigation,
IEEE International Conference on Robotics and Automation, Seoul
Korea, Mayo 2001. http://citeseer.ist.psu.edu/howard01rulebased.html.
[20] KONOLIGE, K. Myers. The Saphira architecture for autonomous
mobile robots, pp. 211-242, 1998.
[21] TIMOTHY, J. Ross.Fuzzy Logic with engineering applications.
[22] MPLAB USER’S GUIDE, Microchip Technology, 2005.

Statistic analysis serves to conclude about of singulars

advantages to use AFLS on robotics systems like to
FUZZYBOT. The normally test developed by Anderson–
Darling, Ryan-Joiner and Kolmogorov Smirnov, permit us to
define types of studies that valid this method used to data
comparison [12]; finally data acquisition like a average,
standard deviation and P-value, confirm or not if Adaptive
fuzzy Logic system serve to control efficiently this robot; if
the reader sees table I and II, could to conclude that adaptive
fuzzy control is efficiently, same how our objectives were
purposed.

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