A two loop fuzzy controller for goal directed navigation of mobile robot

Abstract

This paper describes the design of a two loop fuzzy controller for goal directed navigation of a differentially driven mobile robot in unknown indoor environments. The first loop is responsible for finding a collision free path amongst obstacles while second loop uses this information to steer the mobile robot towards the target in absence of nearby obstacles. The fuzzy controller is designed and visualized with the help of Fuzzy Logic Toolbox in MATLAB environment where its membership functions and rules are tuned to have satisfactory real time results on an inexpensive test bed of two AT89C52 microcontrollers. The real time results obtained in indoor environment containing obstacles validate the proposed controller for goal directed navigation.