Fuzzy logic controller for a terrestrial mobile robot based on the global positioning system

摘要

The main challenge in mobile robotics is navigation, especially in autonomous navigation, where environmental uncertainty plays a crucial role in the robot’s ability to locate and move effectively in space. One of the most common sensors employed in this task is the Global Positioning System (GPS), which allows determining the position of an object at any point on Earth. However, using a low-cost GPS presents limitations regarding location accuracy, further complicating the problem of autonomous navigation. In this context, this paper proposes a methodology based on a fuzzy controller that uses the data provided by a low-cost GPS to guide the robot toward a preloaded destination point. This fuzzy controller is composed of five rules, and in the defuzzification stage, one-to-one relationships are employed, simplifying the decision-making process. As a result of the implementation of this methodology, a navigation precision with an error of less than 0.5 meters was achieved, which demonstrates the effectiveness of the proposed fuzzy controller in autonomous navigation scenarios with low-cost sensors.