Mobile drug delivery robot in dynamic environment using fuzzy path planning
Keywords:
ANFIS controller, fuzzy path planning, dynamic environment, single sensor, drug deliveryAbstract
In this paper, the development of a path planning algorithm for a mobile drug delivery robot in a dynamic unknown
environment has been presented. The path planning algorithm which has been used is Adaptive Neuro-Fuzzy Inference
System [ANFIS] which is based on Fuzzy path planning. The sensor used for the detection of obstacles is an Ultrasonic
sensor which is mounted on a Servo motor. The input which is given to the ANFIS controller is obtained from a single
sensor and this input is used to determine the steering angle of the mobile robot. The main role of this paper is to develop a
drug delivery robot which can avoid the obstacles with the help of a single Ultrasonic sensor and deliver the medicines on
reaching the goal position. The delivery robot was implemented in real time by running ATMEGA 2560 microcontroller
based robot using C/C++ language. The efficiency and accuracy of the proposed mobile robot can be demonstrated with the
help of real time implementation in an unknown environment.
