Same Fuzzy Logic Controller for Two-Wheeled Mobile Robot Navigation in Strange Environments

Table 2

Fuzzy rule base of the two reactive controllers.

“” or “”	Linear; Velocity	Angular; Velocity
NL	S	NL
NM	S	NM
N	S	N
NS	M	NS
ZN	L	ZN
Z	L	Z
ZP	L	ZP
PS	M	PS
P	S	P
PM	S	PM
PL	S	PL