Corridor navigation with fuzzy logic control for sonar based mobile robots

Abstract

This paper proposes and implements a simple fuzzy logic controller for mobile robot navigation in corridor environments. An error signal corresponding to the deviation of robot from the central axis of the corridor forms input to the controller which generates speed commands for the robot to keep it in centre of corridor by minimizing the error signal. The error signal is determined with the help of two ultrasonic sensors mounted on the robot. The controller is realized in real time using an inexpensive 8-bit microcontroller and is tested in a variety of corridor environments to prove its validity.