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Optimal design approach of wall following control of a robot motion using fuzzy controller via sugeno model

Author:

Shiv Prasad Sharma and Dr. Maitreyee Dutta

Subject Area:

Physical Sciences and Engineering

Abstract:

This work presents a new strategy for behaviour-based navigation of robots using a fuzzy logic approach. A key feature of the proposed approach is real-time assessment of terrain characteristics and incorporation of this information in the robot navigation strategy. Here fuzzy logic used is Sugeno modelling. The advantage of Sugeno is that it provides sharp response near boundaries with less time. The regional behaviour is complemented by two other behaviour’s, local avoid-obstacle and global seek-goal. The detection of a wall by the sensors activates the controller which simply attempts to align the robot with the wall at a specified reference distance. The proposed model performance is compared with Mamdani approach. All simulations are done with the help of MATLAB tool.

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