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Mathematical Problems in Engineering
Volume 2017 (2017), Article ID 8984713, 12 pages
Research Article

Fuzzy Logic Controller Design for Intelligent Robots

1Department of Information Engineering, National Central University of Computer Science, Taoyuan, Taiwan
2Department of Information Management, National Central University of Computer Science, Taoyuan, Taiwan
3Department of Bio-Industrial Mechatronics Engineering, National Taiwan University, Taipei, Taiwan

Correspondence should be addressed to Chien-Chun Wang; wt.ude.ucn.g@kcirtap

Received 27 April 2017; Revised 22 July 2017; Accepted 10 August 2017; Published 27 September 2017

Academic Editor: Rafael Morales

Copyright © 2017 Ching-Han Chen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a fuzzy logic controller by which a robot can imitate biological behaviors such as avoiding obstacles or following walls. The proposed structure is implemented by integrating multiple ultrasonic sensors into a robot to collect data from a real-world environment. The decisions that govern the robot’s behavior and autopilot navigation are driven by a field programmable gate array- (FPGA-) based fuzzy logic controller. The validity of the proposed controller was demonstrated by simulating three real-world scenarios to test the bionic behavior of a custom-built robot. The results revealed satisfactorily intelligent performance of the proposed fuzzy logic controller. The controller enabled the robot to demonstrate intelligent behaviors in complex environments. Furthermore, the robot’s bionic functions satisfied its design objectives.