Fuzzy motion-based control for a bi-steerable mobile robot navigation

This paper presents an implementation of a Fuzzy Motion Controller (FMC) to endow the mobile robot Robucar with capability to achieve the action behavior allowing smooth motion generation with intelligence in real-time. The robot state space (velocity and distances) is modeled in discrete intervals leading to linguistic variables. The fuzzy motion control rules are derived and used in a fuzzy inference mechanism to give the final control command to the robot actuators. Simulation and experimental results show FMC capabilities in generating smooth motions, illustrating then its adaptivity and intelligence.