A fuzzy-logic based controller for the Mobile Robot to avoid obstacles based on the data from its sonar sensors.
The controller takes 3 inputs from sonar sensors called inputLEFT, inputFRONT, and inputRIGHT. InputFRONT is the minimum between the two front sensors.
The membership function for each input is as follows. X-axis represents the distance to an obstacle in mm.
The outputs are the robot's motors. The membership function for each output is shown below. X-axis is the motor speed in mm/s.
The table of fuzzy rules.
The link to the video where the robot avoids obstacles: https://www.youtube.com/watch?v=iqcaPnnepPo
The link to the full report: https://drive.google.com/file/d/1pkQx3OK0kQITQ3sZTtjMU8FuwTggx_yA/view