Control of mobile robots with fuzzy reasoning Original Research Article

The control of a mobile robot on both a local and a global level was investigated. A local controller is proposed using fuzzy reasoning and ultrasonic sensing to guide the mobile robot along a specific path segment, without physical guidance and without a priori knowledge of the path. It is able to steer the robot along straight segments, left/right turns and avoid collision with obstacles. This is accomplished by using only 27 rules. The global controller uses a world map representation of the factory to plan the dispatching and the routing of the mobile robot.