Design of MIMO mamdani fuzzy logic controllers for wall following mobile robot

Abstract

This paper describes the design of wall tracking robot mobile based on intelligent controller, Fuzzy Logic controller, that it's equipped with three ultrasonic sensors. The distance of robot from the wall read by two ultrasonic sensors placed on left side and another in head of robot. The measured values of sensors are inputs for fuzzy logic controller that generates motor commands, directly for right motor and indirect for left motor. The range of fuzzy controller output set to be used in duty cycle of PWM signal. For design the rules, we have an algorithm to determine of best rule for each position. In addition it has been tried within increase accuracy also the speed factor improves. The controllers are design in MATLAB® Fuzzy Logic Toolbox. © 2013 Springer-Verlag Berlin Heidelberg.