Behavior-Based Fuzzy Control for Mobile Robot Navigation

Box 1

Input: 𝑢_𝑖—crisp numerical value.

Output: 𝑦_𝑖—crisp numerical value.

BEGIN:

Step  1. Fuzzification of the input 𝑢_𝑖,

Step  2. Application of the fuzzy operators (AND or OR)

in the antecedent of the rules according to (3) and (4),

Step  3. Implication from the antecedent to the consequent

using of the AND operation according to (3),

Step  4. Aggregation of the consequents across

the rules using the OR operation according to (4),

Step  5. Defuzzification to output variable 𝑦_𝑖.

END