自动化专业模糊逻辑控制机器人走迷宫.docx

外文资料FUZZY LOGIC CONTROL FOR ROBOT MAZE TRAVERSAL: AN UNDERGRADUATE CASE STUDYJames Wolfer Chad A. George Abstract ?As previously reported, Indiana University South Bend has deployed autonomous robots in their Computer Organization course to facilitate introducing computer science students to the basics of logic, embedded systems, and assembly language. The robots help to provide effective, real-time feedback on program operation and to make assembly language less abstract. As a part of their coursework students are required to program a sensor-based traversal of a maze. This paper details one solution to this problem employing a fuzzy logic controller to create linguistic rules. Key words:Fuzzy logic, pedagogy, robots, student projects INTRODUCTIONAssembly language programming in a computer science environment is often taught using abstract exercises to illustrate concepts and encourage student proficiency. To augment this approach we have elected to provide hands-on, real-world experience to our students by introducing robots into our assembly language class. Observing the physical action of robots can generate valuable feedback and have real-world consequences – robots hitting walls make students instantly aware of program errors, for example. It also provides insight into the realities of physical machines such as motor control, sensor calibration, and noise. To help provide a meaningful experience for our computer organization students, we reviewed the course with the following objectives in mind: ? Expand the experience of our students in a manner that enhances the students insight, provides a hands-on, visual, environment for them to learn, and forms an integrated component for future classes. ?Remove some of the abstraction inherent in the assembly language class. Specifically, to help enhance the error detection environment.? Provide a kinesthetic aspect to our pedagogy. ? Build student expertise early in their program that could lead to researc