Comparative analysis of fuzzy logic controllers for corridor following behaviour of mobile robot

This paper describes the design, implementation and comparison of two MIMO fuzzy logic controllers for corridor following behaviour of mobile robot in indoor environments. Both the controllers take input from two ultrasonic sensors mounted on front-left and front-right sides of the robot and generate commands for left and right motors. The controllers are designed using MATLAB^® and their rule bases are optimized for best possible results. The controllers are then implemented in real time using a low cost, readily available AT89C52 microcontroller. The comparison of controllers is carried out on the basis of selecting membership functions and number of rules in the rule base. Experimental results have shown the validity of both the controllers for corridor following behaviour of mobile robot.