Real-time object following fuzzy controller for a mobile robot

Abstract

This paper presents an object following wheeled mobile robot in which fuzzy logic controller is utilized to handle uncertain input data from three ultrasonic sensors. A maintenance system selects behaviour from the range data at each step so that the mobile robot can move behind the object by keeping the distance constant. The proposed model is attested in an environment containing moving objects. The experimental and simulation outcomes indicate better adaptability, attain the desired turn angle precisely, and adopt the same speed as that of the followed object.