A fuzzy error correction control system

This paper describes a fuzzy error correction control system used to naviga te a robot along an easily modifiable path in a well-structured environment . An array of Hall sensors mounted on the bottom of a robot gathers sensory information from a path of ferromagnetic disks placed on the ground. This sensory input is processed by an analog-to-digital converter and the output signals are then inputted into a fuzzy logic engine. The fuzzy engine outp uts commands for the robot wheels. These commands determine the necessary a ngle of rotation to correct the direction of travel in order for the robot to remain on the path. The fuzzy logic controller stores prior disk informa tion to predict a path trajectory when no path is detected. If the controll er then senses a path, it anchors on it and starts following it.