A MATLAB-based autonomous robot simulation using a five-sensor fuzzy logic controller for complete track following and intelligent red-star endpoint navigation.
The robot follows the complete black-line route, reaches the final red-star destination, and automatically stops after successful endpoint detection.
This project includes:
- ✅ Five-sensor fuzzy line-following controller
- ✅ Differential drive robot model
- ✅ Complete track navigation
- ✅ Green start point detection
- ✅ Red-star endpoint detection
- ✅ Smooth steering control
- ✅ Bigger robot body and wheels
- ✅ Track progress monitoring
- ✅ Red-star distance analysis
- ✅ Robot animation
- ✅ Simulation video recording
This project demonstrates an autonomous mobile robot controlled by a fuzzy logic system.
The robot uses five virtual sensors to detect the black line position and calculate the tracking error. The fuzzy controller processes this error and generates appropriate wheel velocity commands to keep the robot on the path.
The complete system contains:
- Sensor reading module
- Fuzzy logic steering controller
- Differential drive motion model
- Track progress monitoring
- Endpoint approach controller
- Robot visualization and animation
The robot must complete the entire track before approaching the red-star finish point.
Line Sensors
|
↓
Error Calculation
|
↓
Fuzzy Logic Controller
|
↓
Wheel Velocity Commands
|
↓
Differential Drive Robot
|
↓
Track Following
|
↓
Red Star Approach
|
↓
Stop
The latest version includes a cleaner full route with:
- Long straight paths
- Smooth turning sections
- Green starting position
- Red-star final destination
Robot configuration:
Start Point : Bottom-left
Finish Point : Top-right (Red Star)
The robot follows the complete track before entering the final endpoint approach mode.
The final approach controller allows the robot to reach the red-star destination accurately.
Robot operation:
Start Position
↓
Follow Black Line
↓
Complete Full Track
↓
Activate Endpoint Controller
↓
Move Toward Red Star
↓
Stop Automatically
This version prevents shortcut behavior.
Improvements:
- Track progress remains monotonic
- Endpoint mode cannot activate early
- Robot must complete the full route
- Final stopping occurs only at the red star
- MATLAB R2020a or newer recommended
- Basic MATLAB plotting support
Open MATLAB.
Set this repository folder as the current working folder.
Run:
mainThe simulation will start automatically.
Fuzzy-Line-Following-Robot-MATLAB
│
├── main.m
├── robot_config.m
├── create_track.m
├── read_line_sensors.m
├── fuzzy_controller.m
├── differential_drive_model.m
├── track_progress.m
├── animate_robot.m
├── plot_results.m
│
├── navigation_recording.mp4
├── navigation_recording.gif
│
└── README.md
The simulation supports automatic video recording.
Add the following lines in main.m:
video = init_video('robot_simulation.mp4',30);
...
drawnow;
writeVideo(video,getframe(gcf));
...
close(video);After the simulation finishes, MATLAB automatically generates:
robot_simulation.mp4
The simulation provides:
- Robot movement animation
- Complete trajectory visualization
- Track progress graph
- Distance-to-red-star plot
- Recorded navigation video
- GIF demonstration for README
Responsible for:
- Calculating line error
- Generating steering correction
- Maintaining stable line following
Responsible for:
- Robot kinematics
- Wheel velocity update
- Position and orientation calculation
Responsible for:
- Monitoring route completion
- Preventing early endpoint switching
- Ensuring full-track navigation
Responsible for:
- Detecting final approach stage
- Guiding robot toward red star
- Stopping at destination
Possible future developments:
- Real Arduino-based robot implementation
- Camera-based line detection
- Adaptive fuzzy parameter tuning
- Machine learning-based controller
- ROS 2 integration
- Real hardware testing
This project is licensed under the MIT License.
Ruddrho Mollik
Robotics | Autonomous Navigation | Control Systems
GitHub: