A hybrid fuzzy logic controllers for complex environment

To overcome the complex terrain, a hybrid fuzzy logic controllers is proposed to find multiple targets with smooth path. By combining the searching abilities of these two fuzzy logic controllers, the robot is no longer trapped in a narrow exit, but succeed in follow the wall to the exit and then resume the navigation to the target. Experimental results show that the robot beat conventional fuzzy logic controller method in various challenging terrains, and can detect any narrow exits, which are larger than 1.8 times the robot width.