Development of Multistep-Fuzzy controller for the line trace car

Abstract

The research on fuzzy control is various and performed. Fuzzy control is used for the control methods, such as automatic conveyance vehicles, such as a line trace robot and a factory, in many cases. It is verified whether fuzzy control is applicable to an object with a fast running speed like line trace car. In this research, the simplified reasoning method is used for the steering angle and the motor control of the line trace car. We tried to make smoothly controller without carrying out a zigzag run. About line tracer system, the car calculates a steering angle from the value of the sensor read during the run. Then, the line trace car calculates a motor output from the outputted steering angle.