Fuzzy Logic Controller for 4WD/4WS Autonomous Agricultural Robotic

A Type 1 Takagi Sugeno Fuzzy Logic Controller (T1TSFLC) for a weeding agricultural robot with four-wheel steering (4WS) and four-wheel drive (4WD) is proposed in this paper. Two basic behaviors are studied and simulated: goal-finding and obstacle-avoidance. The simulation results under a variety of scenarios illustrate the effectiveness and robustness of the T1TSFL navigator for controlling a 4WS/4WD robot in an unstructured and uncertain environment.