Design and Simulation of Fuzzy Control for Mobile Robot

Abstract

In this paper, some fuzzy controls based on sensors applying to mobile robots for obstacle avoidance are proposed. Fuzzy logic is a good controller for mobile robots because fuzzy rules are efficient for making inference events under uncertainty. In experiments Input signals are taken from sonar senors while output values are the expected velocity of mobile robots. The designing of fuzzy rules are based on the trial and error method.Experiments are simulated on computer specialized software, which is developed for testing the ability applying to robots in real situations. The object is to help robots with self decision making in dynamic obstacle environment as well as in maze having one entrance and exit.Input signal is the value from reading the robot’s sonars while output is the velocity of robot wheels. Fuzzy rules base on errors and testing. The control object is that robot could run in various environments without hitting any obstacles. Experiment results are provided to prove the stability of the proposed control method and the ability applying it to real situations.