Design and implementation of fuzzy logic controller for mobile
robot navigation in unknown environments is presented. The task of
navigation is divided into three behaviors namely hurdle avoidance,
wall following and goal seeking. The outputs from these behaviors
are combined to generate collision free motion of robot amongst
obstacles in reaching the target. The controllers for these
behaviors are designed using Fuzzy Logic toolbox of MATLAB(r) and
their implementation is realized with readily available and
inexpensive AT89C52 microcontrollers. Finally, the robot with these
controllers is tested in indoor environments containing obstacles
with changing destination places and is found to reach the set
targets successfully which shows the validity of the designed
controllers in achieving the required task.
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