ROS_Feedback_controllers

Fuzzy logic and PID controllers for multiple robot behaviors

Closed loop PID and fuzzy logic controllers for right edge following and obstacle avoidance using laser sesnor. ROS along with python was used for controller development. Individual classes was developed and they are tested in Gazebo simulator.

Fuzzy Right Edge Following controller

Input Membership function

Rule Base

Output Membership Function

Control surface

Fuzzy Obstacle avoidance function

Input Membership function

Rule Base

Output Membership Function

Control Surface

Fuzzy Coordination

Individual behaviours was merged using fuzzy coordination.

Bahaviour selection Logic