Optimised fuzzy logic controller for a mobile robot navigation

Abstract

This paper presents fuzzy logic controller (FLC) design using optimisation techniques. The FLC has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the kinematic constraints. First, we have carried out a simulation of a fuzzy logic based controller which determines the speed values of each driving wheel, while the robot seeking the goal. Second, an optimisation of this controller has been realised using gradient method or genetic algorithms. Simulation and experimental results demonstrates the effectiveness of the proposed approach.