Fuzzy algorithm for the control of a mobile robot

Abstract

An integrated system is proposed for the control of a mobile robot on both a local and global level. The local controller uses fuzzy reasoning and ultrasonic sensing to guide a mobile robot along a specific path segment, without physical guidance and without a priori knowledge of the path. It is able to steer the robot along straight segments and left/right turns, while avoiding collision with obstacles. The global controller uses a world map representation of the factory to plan the dispatching and the routing of the mobile robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>