Design, low cost implementation and comparison of MIMO Mamdani Fuzzy Logic Controllers for wall tracking behavior of mobile robot

This paper describes the design, implementation and comparison of two Mamdani Fuzzy Logic Controllers for wall tracking behavior of mobile robot. Both the controllers take inputs from two ultrasonic sensors and generate motion commands for left and right motors. The controllers are designed using MATLAB and implemented in real time using an inexpensive and readily available microcontroller, AT89C52. The controllers differ in membership functions and the rule base which provides a mean for their comparison. Experimental results have validated both the controllers; however they exhibit different settling time and percentage overshoot due to the difference in the membership functions and the design of rule base.