Why Fuzzy Logic?
My original plan was to implement these control with PID (Proportional, Integral, Differential) control. This idea was quickly abandoned because of the complex analog hardware involved. Althought many of the hardware theory can be implemented in software, this would not be worth it because of the extreme processing overhead and is not taking the full advantge of Digital Control. I quickly shifted to Fuzzy Logic. In fuzzy logic, the system variables does not have to be precisely know, only basic knowlege of the operation of the process is sufficient. In the case of my project, I don’t really what PWM frequency (this is the PWM form the microcontroller to the motor drivers, which is transparent to the robot program) to run at what speed. All I need to know is “If distance form destination is FAR, and current speed is MODERATE, and power consumption is LOW, then SPEED UP MODERATELY”. This a much cleaner discription and is understandable by anyone. And this is exactly the beauty of Fuzzy L
