The effects of membership function of the input and output fuzzy logic controller in a mobile robot's straight line navigation

The purpose of indoor mobile robot navigation is to travel the mobile robot toward stable-target in a predefined straight line navigation. The movement information of the two-wheeled mobile robot is used as an input to the fuzzy membership function and the outputted probability from the membership function is used to move the robot towards target. The experimental results show that the proposed fuzzy approach has shown reduction in straight line navigation error, improvement of 60% compared to the without fuzzy navigation.

[1]  J. Godjevac.  Comparison between PID and fuzzy control , 1993 .

[2]  B. Min,et al.  Fuzzy Logic Path Planner and Motion Controller by Evolutionary Programming for Mobile Robots , 2009 .

[3]  Shun-ming Li,et al.  A Fuzzy Behavior-Based Architecture for Mobile Robot Navigation in Unknown Environments , 2009, 2009 International Conference on Artificial Intelligence and Computational Intelligence.

[4]  Mohd Ashraf Ahmad,et al.  Performance Comparison between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-Wheels Balancing Robot , 2011, 2011 First International Conference on Informatics and Computational Intelligence.

[5]  Hazry Desa,et al.  A differential steering control with proportional controller for an autonomous mobile robot , 2011, 2011 IEEE 7th International Colloquium on Signal Processing and its Applications.

[6]  Sawsan Abdel-Latif El-Teleity,et al.  Fuzzy logic control of an autonomous mobile robot , 2011, 2011 16th International Conference on Methods & Models in Automation & Robotics.

[7]  Junfeng Wu,et al.  Design of fuzzy logic controller for two-wheeled self-balancing robot , 2011, Proceedings of 2011 6th International Forum on Strategic Technology.

[8]  Zhu Qidan,et al.  Genetic Fuzzy Logic Control Technique for a Mobile Robot Tracking a Moving Target , 2013 .