Fuzzy Control Architecture for a Mobile Robot System

Dário J. Osório, Ramiro S. Barbosa, and Manuel F. Silva


Fuzzy control, Mobile robots, Modeling, PID controller


This paper presents the development of an autonomous mobile robot controlled by a fuzzy logic controller (FLC).The robot is capable of performing several behavior-based tasks, such as to follow walls and avoid obstacles, and can be used for the embodiment of different behaviors. Experimental results are given to assess the performance of the FLC and to validate the adopted design options for the construction and control of the robot.

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