Obstacle Avoidance Based On Fuzzy Controller And Ultrasonic Sensors using ARM

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Obstacle Avoidance Based On Fuzzy Controller And Ultrasonic Sensors using ARM

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The concept is a fuzzy controller based architecture designed for the purpose of movement of disabled and aged people. A fuzzy controller that controls the direction can be used in combination with the obstacle avoidance controller. The directions controller will have as input the difference between the desired and the current direction of the wheelchair. The direction magnitude describes how many degrees the chair will have to turn and the sign indicates if it has to be done in one direction or the other. The output is the PWM and the direction that each wheel has to take in order to compensate. The range for the degrees is [0, 360] degrees and the turning direction is [-180, 180], also in degrees.

The circuit that indicates the obstacle detection and changing the direction based on fuzzy controller. The obstacle detection is identified using ultrasonic sensor. The position of the wheelchair is taking over by the Fuzzy controller, thus it will avoid crashing against static and dynamic obstacles. The controller takes information from three ultrasonic sensors which measure the distance from the chair to an obstacle located in different positions of the wheelchair. The outputs of the Fuzzy controller were the voltages sent to a system that generates a PWM to move the electric motors and the directions in which the wheel will turn.

The main role of the  fuzzy controller will act when the distances recognized by the sensors are very Far, because the system will have enough space to maneuver and recover the direction that it has to follow, otherwise the obstacle avoidance controller will have the control of the wheelchair.



  • Eye movement control system
  • Voice based control
  • Manually operation.


  • Automatic operation.
  • Controller based obstacle detection.
  • No human involvement
  • Sensor based direction finding for free space.





  • Microcontroller(ARM7)
  • Ultrasonic Sensors
  • Wheel chair module
  • Driver units


  • Keil
  • Flash magic
  • Embedded c
  • Orcad


  • Automobile applications
  • Robotic applications
  • Home applications


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[3] R. B. Tilove, “Local obstacle avoidance for mobile robots based on the method of artificial potentials,” in Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on. IEEE, 1990, pp. 566–571.

[4] A. Saffiotti and D. Driankov, “Fuzzy logic techniques for autonomous vehicle navigation,” Physica-Verlag, 2001.

[5] M. I. Ribeiro and P. Lima, “Kinematics models of mobile robots,” Instituto de Sistemas e Robotica, pp. 1000–1049, 2002.

[6] W.-S. Lin, C.-L. Huang, and M.-K. Chuang, “Hierarchical fuzzy control for autonomous navigation of wheeled robots,” IEE Proceedings- Control Theory and Applications, vol. 152, no. 5, pp. 598–606, 2005.

Additional information

Weight 1.000000 kg


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