INVESTIGATING THE POTENTIAL CONSEQUENCES OF THE MEMBERSHIP FUNCTIONS IN A FUZZY LOGIC CONTROLLER-BASED OBSTACLE CLIMBING ROBOT

Abstract

Autonomous mobile robots are the robots which can perform desired tasks in unstructured environment without continuous human guidance. This paper deals with the design of an Autonomous obstacle climbing robot that will able to climb an obstacle. This obstacle climbing navigation system is utilized by the intelligent fuzzy logic controller. The controller has 2 inputs and single output system. The inputs are slope and terrain type and the output is the speed of the robot. The membership functions are the building blocks of fuzzy logic system and play a vital role in the performance of mobile robot. This paper describes the effect of different membership functions namely triangular, trapezoidal membership functions are considered.