Development of a fuzzy logic wall following controller for steering mobile robots

Abstract

This paper describes the design of a fuzzy logic controller for wall following-navigation of a differentially steered mobile robot. To maintain the distance of the mobile robot from the wall is a basic behavior that mobile robot should have. This paper proposes embedded fuzzy logic controller in order to make the mobile robot can running with smoothly and stable for wall following case. The designed fuzzy controller uses MATLAB® and it was simulated using Microsoft Visual C++. To verify our approach, a differentially steered mobile robot is implemented with ArduinoTM Nano. The experiment of simulation and test results methodology were presented to show the validity of the proposed.