Fuzzy rule-based motion controller for an autonomous mobile robot

Abstract

SUMMARY Intelligent control of mobile systems allows for hierarchical structures that utilize sensory data with various levels of accuracy. This paper discusses a rule-based approach for the control problem. The assumed inexactness in world description is represented by fuzzy memberships, and the state space is discretized into a linguistic vocabulary. Fuzzy motion control rules that have been experimentally derived, are then used in a fuzzy inference mechanism to give the final control command to robot actuators. Finally, the developed algorithm is tested for real-time control applications.