The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

MSc Thesis #9609

Title:A Fuzzy Logic Controller for the Navigation of a Small Mobile Robot
Date: 1996
Abstract:This dissertation is concerned with the implementation of a fuzzy logic controller for the task of reactive navigation of a small mobile robot. The implementation involves the creation of a fuzzy logic controller, FLC, with inputs the readings from the robot's sensors and outputs the values of the robot's translational and rotational speeds. The final result is a computer-based simulation of the robot's movement inside different environment formations, exhibiting obstacle avoidance, goal seeking and cork pushing behaviours. Explanations are provided for the way the controller's rule-base is constructed for the realization of these behaviours, as well as for the choices made on the way that the controller and the simulator function. The advantages and disadvantages of the approach we followed are discussed and the emergent conclusion is that fuzzy logic provides a simpler way to realize robot behaviours than conventional mathematical models.

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