Fuzzy logic controlled robot simulation

Demo

This is a simulation of a robot controlled by fuzzy logic. It is built in JavaScript and runs in modern browsers, ideally in a machine with a graphics accelerator.

Project dependencies

• jQuery - HTML manipulation and event handling
• Three.js - JavaScript 3D library
• Physijs - Physics plugin for Three.js
• Stats.js - JavaScript performance monitor
• Simplex-noise - Noise generation algorithm

Running local demo

Serve src/ directory

npm i -g static-server
static-server -p 1234 src/
# open localhost:1234

Overview

• Scene components scene.js

  Method	Description
  setRenderer()	Sets scene renderer
  setScene()	Sets overall scene and gravity
  setLights()	Creates lighting components
  setCameras()	Creates cameras from views.json description
  createGround()	Creates a solid floor and texture
  createObstacles()	Creates map and obstacles of random sizes and positions
  createBot()	Creates a robot with body, wheels, physics, and controls
  createSensors()	Creates and initializes sensors and visualization

• Dynamics and system evolution dynamics.js

  Method	Description
  update()	Simulation update loop
  updateSensors()	Simulates sensors' operations and their projections
  updateControl()	Bridge between controller and bot actuators
  updateText()	UI texts update loop
  updateWindowSize()	Updates canvas on window resize

• Bot controls controls.js, fuzzy.js

  Method	Description
  autoDrive()	Drives the bot based on fuzzy rules and speed
  fuzzy()	Applies the set of fuzzy rules from sensor readings