Title :
The effects of membership function of the input and output fuzzy logic controller in a mobile robot´s straight line navigation
Author :
Nor, Rizal Mohd ; Suhaib, A. ; Talha, Kamil S. ; Hassan, Norfaeza ; Wan, Khairunizam ; Hazry, D. ; Shahriman, A.B. ; Razlan, Zuradzman M.
Author_Institution :
Sch. of Mechatron. Eng., Univ. Malaysia Perlis, Arau, Malaysia
Abstract :
The purpose of indoor mobile robot navigation is to travel the mobile robot toward stable-target in a predefined straight line navigation. The movement information of the two-wheeled mobile robot is used as an input to the fuzzy membership function and the outputted probability from the membership function is used to move the robot towards target. The experimental results show that the proposed fuzzy approach has shown reduction in straight line navigation error, improvement of 60% compared to the without fuzzy navigation.
Keywords :
fuzzy control; mobile robots; path planning; probability; wheels; fuzzy logic controller; fuzzy membership function; output probability; straight line navigation; two-wheeled mobile robot; Fuzzy logic; Mobile robots; Navigation; Robot kinematics; Shape; Wheels; Fuzz system; Membership function; Mobile robot; Stable target; Straight-line Navigation;
Conference_Titel :
Electronic Design (ICED), 2014 2nd International Conference on
Conference_Location :
Penang
DOI :
10.1109/ICED.2014.7015769
