Autonomous line-follower with fuzzy control

The aim of the paper is to shown a construction of an autonomous vehicle using fuzzy logic. The vehicle was designed as line-follower. The task of control system is to move a vehicle in such way that it follows a black line marked on the white floor. The vehicle consists of two wheels in the front and a support at the back. The system control is based on input signals from six optical sensors measuring the intensity of light reflected by the floor. Fuzzy logic control algorithm is implemented in ATmega328 microcontroller placed on Arduino board. The work concludes observations, the description of the difficulties encountered in the construction of the device and possible modifications.