**4. Mobile autonomous robot system**

### **4.1 Introduction**

128 Fuzzy Inference System – Theory and Applications

(a)

(b)

Fig. 22. System responses of a) nominal object and b) increased inertia

Table 9. Comparison of the performances of PID and F-PID controllers.

Mobile robots are generally those robots which can move from place to place across the ground. Mobility give a robot a much greater flexibility to perform new, complex, exciting tasks. The world does not have to be modified to bring all needed items within reach of the robot. The robots can move where needed. Fewer robots can be used. Robots with mobility can perform more natural tasks in which the environment is not designed specially for them. These robots can work in a human centred space and cooperate with men by sharing a workspace together [9].
