Fuzzy Logic Controller Design for Intelligent Robots

Ching Han Chen, Chien Chun Wang, Yi Tun Wang, Po Tung Wang

Research output: Contribution to journalArticlepeer-review

21 Scopus citations


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.

Original languageEnglish
Article number8984713
JournalMathematical Problems in Engineering
StatePublished - 2017


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