Interpolation-based fuzzy logic controller, as a simplified way for constructing the fuzzy rulebase of the path tracking and collision avoidance strategy of an AGV

The application of interpolation-based approximate fuzzy reasoning methods in direct fuzzy logic control systems gives a simplified way for constructing the fuzzy rule base. The rule base of a fuzzy interpolation-based controller is not necessarily complete; it could just contain the most significant fuzzy rules without risking the chance of having no conclusion for some of the observations. In this paper, we introduce an approximate fuzzy reasoning method based on K-H interpolation in the vague environment of a fuzzy rule base which could be implemented to be simple enough for practical direct fuzzy logic control applications. For demonstrating the efficiency of the proposed approximate fuzzy reasoning method in direct fuzzy control, as a simulated complex practical application, a steering and collision avoidance strategy of an automated guided vehicle (AGV) is also introduced