Design of Hierarchical Fuzzy Logic Control for Mobile Robot System

Abstract

This paper studies the problem of motion and control law design for a mobile robot that moves inside a partially unknown environment, under the assumption of parametric uncertainty in the model that describes the motion of the robot. This paper deals with a fuzzy-based intelligent mobile robotic system by hierarchical structure that requires various capabilities normally associated with intelligence. The proposed method is applied for a path planning problem of a mobile robot; the effectiveness of the method is illustrated through some experiment.