A Theoretical and Experimental Approach of Fuzzy Adaptive Motion Control for Wheeled Autonomous Nonholonomic Vehicles
Table 1
Controller rules.
No. Rules
1
S
S
S+
S
S
S
2
S
M
S+
S
M
S
3
S
H
S+
M
H
S
4
M
S
S+
M
S
S
5
M
M
S+
M
M
S
6
M
H
S+
M
H
S
7
H
S
S+
H
M
S
8
H
M
S+
H
M
S
9
H
H
S+
H
H
S
10
S
S
M+
M
M
M
11
S
M
M+
M
M
M
12
S
H
M+
M
H
M
13
M
S
M+
M
M
M
14
M
M
M+
M
M
M
15
M
H
M+
M
H
M
16
H
S
M+
H
M
M
17
H
M
M+
H
M
M
18
H
H
M+
H
H
M
19
S
S
OPP
M
M
H
20
S
M
OPP
M
M
H
21
S
H
OPP
M
H
H
22
M
S
OPP
M
M
H
23
M
M
OPP
M
M
H
24
M
H
OPP
M
H
H
25
H
S
OPP
H
M
H
26
H
M
OPP
H
M
H
27
H
H
OPP
H
H
H
28
S
S
M−
M
M
M
29
S
M
M−
M
M
M
30
S
H
M−
M
H
M
31
M
S
M−
M
M
M
32
M
M
M−
M
M
M
33
M
H
M−
M
H
M
34
H
S
M−
H
M
M
35
H
M
M−
H
M
M
36
H
H
M−
H
H
M
37
S
S
S−
S
S
S
38
S
M
S−
S
M
S
39
S
H
S−
M
H
S
40
M
S
S−
M
S
S
41
M
M
S−
M
M
S
42
M
H
S−
M
H
S
43
H
S
S−
H
M
S
44
H
H
S−
H
H
S
45
H
H
S−
H
H
S
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