A Multilayered Fuzzy Controller for a Mobile Robot

This paper describes a multi-layered fuzzy control algorithm to control an autonomous mobile robot capable of reaching a pre-defined destination without any human intervention. This control algorithm is divided into three different layers to control the robot in different environments. The first layer, orientation layer, helps the robot align itself in the direction of the destination. The second layer, PD layer, helps the robot navigation through passageways. The third layer, obstacle avoidance, keeps the robot away from any obstacles in its path. This multi-layered navigational algorithm is implemented on an autonomous mobile robot built on a modular platform consisting of three modules: the sensor module, the motor driver module, and the supervisor module. The experimental results show that the autonomous mobile robot moves efficiently through different passageways, avoiding all the obstacles in its path.