Research Article
Fuzzy Logic Controller Design for Intelligent Robots
Table 4
Obstacle avoidance fuzzy controller rules.
| | Rule(s) | Input(s)
C: close; N: near; F: far | Output(s) | | S1 | S2 | S3 | Speed | Steering |
| | (1) | C | C | C | NM | LT | | (2) | C | C | N | NM | LT | | (3) | C | C | F | NM | LT | | (4) | C | N | C | NM | FW | | (5) | C | N | N | NM | LT | | (6) | C | N | F | NM | LT | | (7) | C | F | C | NM | FW | | (8) | C | F | N | NM | FW | | (9) | C | F | F | BM | FW | | (10) | N | C | C | NM | RT | | (11) | N | C | N | SM | RT | | (12) | N | C | F | MM | LT | | (13) | N | N | C | MM | FW | | (14) | N | N | N | BM | FW | | (15) | N | N | F | HM | LT | | (16) | N | F | C | HM | FW | | (17) | N | F | N | BM | FW | | (18) | N | F | F | BM | FW | | (19) | F | C | C | NM | RT | | (20) | F | C | N | NM | RT | | (21) | F | C | F | HM | RT | | (22) | F | N | C | SM | RT | | (23) | F | N | N | MM | FW | | (24) | F | N | F | MM | FW | | (25) | F | F | C | SM | FW | | (26) | F | F | N | BM | FW | | (27) | F | F | F | HM | FW |
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