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

fYear

2014

fDate

19-21 Aug. 2014

Firstpage

47

Lastpage

52

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic Design (ICED), 2014 2nd International Conference on

Conference_Location

Penang

Type

conf

DOI

10.1109/ICED.2014.7015769

Filename

7015769