Comparative analysis of zero order Sugeno and Mamdani fuzzy logic controllers for obstacle avoidance behavior in mobile robot navigation

This paper describes the design, implementation and comparison of zero order Takagi-Sugeno and Mamdani fuzzy logic controllers for hurdle avoidance task performed by a differentially steered mobile robot in indoor navigation. Both the controllers are two inputs, two outputs controllers. The controllers take input from two ultrasonic sensors, perform fuzzy algorithm and generate speed commands for left and right motors. The controllers are designed using fuzzy logic toolbox of MATLAB® and implemented in real time using a low cost, readily available AT89C52 microcontroller. Experimental results have revealed the validity of both the controllers for hurdle avoidance task. Finally, the controllers are compared in terms of smoothness of robot motion generated by the controllers and the memory utilized for their implementation in real time.