A fuzzy error correction control system

Abstract

This paper describes a fuzzy error correction control system used to navigate a robot along an easily modifiable path in a well-structured environment. An array of Hall sensors mounted on the bottom of a robot gathers sensory information from a path of ferromagnetic disks placed on the ground. This sensory input is processed by an analog-to-digital converter and the output signals are then inputted into a fuzzy logic engine. The fuzzy engine outputs commands for the robot wheels. These commands determine the necessary angle of rotation to correct the direction of travel in order for the robot to remain on the path. The fuzzy logic controller stores prior disk information to predict a path trajectory when no path is detected. If the controller then senses a path, it anchors on it and starts following it.