Fuzzy Mamdani Controller Applied to Autonomous Navigation in Unknown Environment Variant in Time

Eduardo Vilela Pierangeli, Jordann Alessandro Rosa Almeida, and Marcelo Vilela Pierangeli

Federal University of Lavras, Brazil

Abstract: This work deals with autonomous vehicular control in an unknown environment, using a miniature car, composed of a MEGA Arduino, a servo motor and a stepper motor, also having a body that includes the wheels and the other components. It was intended to obtain and compare three controllers, two of the fuzzy type Mamdani and one of the on/off type, both developed using the Arduino® platform. The results obtained demonstrate the efficacy of the fuzzy controllers in relation to the on / off, especially with respect to the stability and smoothness of the vehicle, and also show that the Mamdani with symmetrically adjusted pertinence functions performed the course more accurately than the others.