Real-time, embedded fuzzy control of the pioneer3-DX robot for path following

Abstract

This paper presents a microcontroller implementation of a fuzzy logic control algorithm applied to the mobile robot Pioneer3-DX. The design and implementation of the fuzzy controller is described. Both speed and steering control are achieved using the same real-time fuzzy controller. The description starts with an example for a circular path following, then presents an implementation of the algorithms for following a generalized curve path.