Implementation of a 3-wheeled Wall Following Robot Navigation System using Coppelia

Abstract

This article will design a controller for a three-wheeled wall-following robot based on Copalia software. The problem with the wall-following robot is how to control a follower robot to move constantly along the wall in the intended direction. The robot controller uses Sugeno fuzzy logic as a rule base for stationary and moving states. This controller is created through distance and orientation navigation. Both are estimated by the robot model and corrected by the sensor measurement results. In cases where the wall is not available, for example, an open door, the robot will stop then there will be feedback to take the next step. The designed controller has been verified experimentally, where the results show an error rate of five millimeters from the actual distance