Behavior-Based Fuzzy Control for Mobile Robot Navigation

Table 1

Rule base of the GS behavior.

	Angular error (EA)
	NB	NM	NS	ZE	PS	PM	PB
Position error (EP)
ZE
𝑉𝐿	NM	NS	ZE	ZE	ZE	PS	PM
𝑉𝑅	PM	PS	ZE	ZE	ZE	NS	NM
S
𝑉𝐿	NB	NB	NM	PS	PS	PM	PM
𝑉𝑅	PM	PM	PS	PS	NM	NB	NB
M
𝑉𝐿	NM	NM	NB	PM	PM	PS	PS
𝑉𝑅	PS	PS	PM	PM	NB	NM	NM
B
𝑉𝐿	PS	PS	PM	PB	PB	PM	PB
𝑉𝑅	PB	PM	PB	PB	PM	PS	PS
VB
𝑉𝐿	PS	PS	PM	PB	PB	PM	PM
𝑉𝑅	PM	PM	PB	PB	PM	PS	PS