A fuzzy error correction control system

This paper describes a fuzzy error correction control system that a robot could use to navigate an easily modifiable path in a well-structured environment. An array of Hall sensors mounted on the bottom of a robot is used to gather sensory information from a path of ferromagnetic disks that are placed on the ground. This sensory input is processed by an analog to digital converter and the output signals are then inputted into a fuzzy logic engine. The fuzzy engine outputs commands for the robot wheels. These commands determine the angle of rotation necessary to correct the direction of travel in order to remain on the path. The fuzzy logic controller stores prior disk information and uses it to predict a path trajectory when no path is detected. If the controller then senses a path, it anchors on it and starts following it