Intelligent Robot's Behavior Based on Fuzzy Control System

摘要

The article presents a design of behavior logic for an autonomous robot at 2D mapping of the area. The robot decision is based on the fuzzy set theory and fuzzy logic to enable to deduce conclusions based on imprecise description of the given situation using linguistically formulated fuzzy IF-THEN rules. These rules are integrated to the robot's programmable device. The robot construction was based on the robotic construction set LEGO MINDSTORMS EV3. The robot functionality contains EV3 components controlling, area mapping, saving of gained data, and map creation of the given area. The article presents the developed program which realizes these robot functionalities. In the conclusion, mapping results are evaluated and compared with the real situation.