A Fuzzy logic control for tactile antenna-based wall-following in autonomous robots

Abstract

Currently, autonomous robotic systems primarily rely on vision for environmental perception, while their tactile sensing and interaction capabilities remain limited. This study introduces a bio-inspired tactile antenna designed to enhance physical interaction and environmental awareness in autonomous robots. A fuzzy logic control strategy is developed to enable robust wall-following behavior along both straight and curved surfaces. The proposed approach is validated through simulations and physical experiments, which demonstrate that the tactile antenna significantly improves navigation performance and adaptability in complex environments.