Fuzzy Logic Control for Wheeled Mobile Robots

A new theoretical control method based on the dynamic behavior of wheeled robot is developed, and a mechanism of fuzzy inference for designing a robust control system is present. The inputs are obtained from mounted ultrasonic sensors. A fuzzy logic controller is used to control the robot´s motion along the predefined path. The robot control system is first modeled in Matlab Simulink and then the fuzzy logic rules are optimized for the best results possible. Experimental results are presented to show the performance of the controller.