Comparison of graphs

The robot simulates the light by means of a led, with a red color when the car has found an obstacle and has to turn, so it simulates a warning to the driver that he should start to slow down and make a turn to avoid the obstacle. 

The turning simulation is achieved by speed management.  A pair of tires that can be left or right depending on which side the obstacle is, the controller decreases the speed by -1.2 on the tires that are close to the object. Tires that are not next to the obstacle increase the speed by 1.2. In this way the robot is able to make small turns until it passes the obstacle. 

Fig 1. Membership function

The graphs represent the distance sensors, the group of graphs that have as input a triangular function to represent the distance from the left sensor and the second one represents the distance from the right sensor, but these sensors are placed in such a way that they simulate an open angle in the robot to identify objects.  

When an object or obstacle is encountered while the robot is moving, the distances are recorded and the robot's speed is affected because of the shorter distance between the object and the robot. Its speed is lower and it starts to turn.

Similarly, the group of graphs on the right shows the left and right distance sensors that are located perpendicular to the robot and form two parallel lines. In the fuzzy logic controller these measurements are plotted using Gaussian functions and the result is shown in trapezoidal functions. 

When buying the charts we see a short delay and different areas that can be obtained in the result.  

In figure 2 you can see how the area is different in the output charts. In the first one you have less area between low and medium and it doubles in high. On the other hand, in the second group of graphs you notice an increase in the area between the low and medium values and a decrease in the high value. 

In figure 3, the results show that the area in the low value is small and increases in the medium and high values. While in the second graph you can see that the area at the low value increases and decreases towards the middle and high value. However, this decrease is not as pronounced as in the previous group of graphs.