Design and low cost implementation of a fuzzy logic controller for wall following behavior of a mobile robot

Abstract

This paper describes the design of a fuzzy logic based intelligent controller for wall following behavior of a differentially steered mobile robot. The distance of robot from the wall and its orientation with respect to the wall is read with the help of three ultrasonic sensors mounted on left side of robot. The measured sensor values are fed to fuzzy logic controller that generates motor commands for the robot to follow wall on its left side at a set distance. The designed fuzzy logic controller is implemented using a low cost single chip AT89C52 microcontroller and its performance is evaluated for different wall trajectories. Experimental results are presented to show the validity of designed controller for wall following behavior of a mobile robot.